Function File: [K, N, gamma, info] = h2syn (P, nmeas, ncon)

Function File: [K, N, gamma, info] = h2syn (P)

H-2 control synthesis for LTI plant.

Inputs

P

Generalized plant. Must be a proper/realizable LTI model. If P is constructed with mktito or augw, arguments nmeas and ncon can be omitted.

nmeas

Number of measured outputs v. The last nmeas outputs of P are connected to the inputs of controller K. The remaining outputs z (indices 1 to p-nmeas) are used to calculate the H-2 norm.

ncon

Number of controlled inputs u. The last ncon inputs of P are connected to the outputs of controller K. The remaining inputs w (indices 1 to m-ncon) are excited by a harmonic test signal.

Outputs

K

State-space model of the H-2 optimal controller.

N

State-space model of the lower LFT of P and K.

info

Structure containing additional information.

info.gamma

H-2 norm of N.

info.rcond

Vector rcond contains estimates of the reciprocal condition numbers of the matrices which are to be inverted and estimates of the reciprocal condition numbers of the Riccati equations which have to be solved during the computation of the controller K. For details, see the description of the corresponding SLICOT routine.

Block Diagram

gamma = min||N(K)||            N = lft (P, K)
         K         2

               +--------+  
       w ----->|       |-----> z
               | P(s)  |
       u +---->|       |-----+ v
         |    +--------+     |
         |                   |
         |    +--------+     |
         +-----| K(s)  |<----+
               +--------+

               +--------+      
       w ----->| N(s)  |-----> z
               +--------+

Algorithm
Uses SLICOT SB10HD and SB10ED by courtesy of NICONET e.V.

See also: augw, lqr, dlqr, kalman.

Package: control