table23.m

在鲁棒控制中

G=nd2sys(1,conv([10,1],conv([0.05,1],[0.5,1])),200);
M=1.5;wb=10;A=1.e-4;Wp=nd2sys([1/M wb],[1 wb*A]);Wu=1;

systemnames='G Wp Wu';
inputvar='[r(1);u(1)]';
outputvar='[Wp;Wu;r-G]';
input_to_G='[u]';
input_to_Wp='[r-G]';
input_to_Wu='[u]';
sysoutname='P';
cleanupsysic='yes';
sysic;
nmeas = 1;
nu = 1;
gmn = 0.5;
gmx = 20;
tol = 0.001;
[khinf, ghinf, gopt] = hinfsyn(P,nmeas,nu,gmn,gmx,tol);
margin(sys);