Function File: P = mktito (P, nmeas, ncon)

Partition LTI plant P for robust controller synthesis. If a plant is partitioned this way, one can omit the inputs nmeas and ncon when calling the functions hinfsyn and h2syn.

Inputs

P

Generalized plant.

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/H-infinity 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

P

Partitioned plant. The input/output groups and names are overwritten with designations according to [1].

Block Diagram

min||N(K)||            N = lft (P, K)
 K         norm

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

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

Reference
[1] Skogestad, S. and Postlethwaite, I. (2005) Multivariable Feedback Control: Analysis and Design: Second Edition. Wiley, Chichester, England.

Package: control