q8.m

Robust自动控制讲义

% wp = nd2sys([0.8 0.01], [1 0.0001],1);

Kp =37

Ki = 0.1

Kd = 0.7

a=250;

s = tf('s');

K = Kp + Ki/s + Kd*a*s/(s+a);

wi = (0.05*s + 0.9)/(0.1064*s+1);

G = 1.8625/(s*(0.01734*s + 1));

M = 1.2
wb =5
A = 0.01

wp = (1/M*s + wb)/(s+wb*A)


L = K*G;

S = 1/(1+L);

wpS = wp*S;

normwpS = norm(wpS,'inf')

T = 1-S;



wiT = wi*T;

N = [wpS;wiT];

normN = norm(N,'inf')

%L = mmult( K, G);

%S = minv(madd(1,L));

%wpS = mmult(wp, S);

%nrm = hinfnorm(wpS);

%T = msub(1,S);

%wI = nd2sys([0.05 0.92],[0.1064 1]);

%wIT = mmult(wI,T);

%Nt = sbs(wpS, wIT);

% N = transp(Nt);

% nN = hinfnorm(N);


step(T);