main.m

I upload matlab code of Tracking servo system

%=========================================================================%
%       Robust and Non-fragile H_inf Controller Design for tracking servo
%                - Kim Joonki,   2007. 5 -
%=========================================================================%
clc
clear all
%%%%%%%%%%%%%%%%%%Track Actuator%%%%%%%%%%%%%%%%%%%%%%%%

%Kdc=(9.8/4.5)*10^-3 %m/v
Kdc=(0.64)*10^-3 %m/v

zeta0 = 0.05

w0 =2*pi*70 % rad/sec


%========= Pick up model : Real model   ==============%
G_n =w0^2*Kdc

G_d = [1 (2*zeta0*w0) w0^2]


%============ Compare 2nd-model vs 5th-model =========%
%figure(1)
%margin(Kg*Ka*Ks*w0^2, [1 (2*pi*zeta0*w0) w0^2]);
%figure(2)
%bode(Kg*Ka*Ks*w0^2, [1 (2*pi*zeta0*w0) w0^2])
%hold on;
%margin(G_act)

%========= State Space Realization : using 2nd order modelling ============%
[A, B, C, D] = tf2ss(G_n,G_d)
B1=[-1;0]
B2=[12;0]



%============= Affine parameter uncertainty matrix ========================%





setlmis([])
Q = lmivar(1, [2 1]); 
M = lmivar(2, [1 2]);
%rho = lmivar(1, [1 0]);% rho=gamma^2=const


lmiterm([1,1,1,Q],1,A','s')
lmiterm([1,1,1,M],B2,1,'s')%(1,1) lmiterm

lmiterm([1,1,2,Q],1,B1)
%lmiterm([1,2,1,Q],B',1)%(1,2)(2,1) lmiterm


lmiterm([1,1,3,Q],1,C')
%lmiterm([1,3,1,Q],C,1)%(1,3)(3,1) lmiterm

lmiterm([1,2,2,0],-1)%(2,2) lmiterm 

lmiterm([1,3,3,0],-1)%(3,3) lmiterm



     
lmiterm([-2 1 1 Q],1,1)%positive definite


lmisys = getlmis;

[tmin, xfeap] = feasp(lmisys)

Q_sol = dec2mat(lmisys,xfeap,Q)
% Q狼 蔼 拌魂 
M_sol = dec2mat(lmisys,xfeap,M)
% M狼 蔼 拌魂 
%rho_sol = dec2mat(lmisys,xfeap,rho)
% rho狼 拌魂
K = M_sol*inv(Q_sol)
% M=KQ
% K=M^-1
% M苞 Q甫 捞侩秦辑 K蔼阑 拌魂茄促.
%gamma = sqrt(rho_sol)