National Instruments 370760B-01 - page 108

3.6. H2AND H∞ANALYSISAND SYNTHE SIS 101
12.500 5.2e-01 1.7e-03 1.0e-02 0.0e+00 0.0000 p
6.250 5.2e-01 1.7e-03 1.0e-02 0.0e+00 0.0000 p
3.125 5.1e-01 1.7e-03 1.0e-02 0.0e+00 0.0000 p
1.562 5.0e-01 1.7e-03 1.0e-02 0.0e+00 0.0000 p
0.781 3.9e-01 -9.8e+01 1.0e-02 0.0e+00 0.0000 f
1.172 4.8e-01 1.8e-03 1.0e-02 0.0e+00 0.0000 p
Gamma value achieved: 1.1719
rifd(Kinf)
Poles:
real imaginary frequency damping
(rad/sec) ratio
-1.0000e-02 0.0000e+00 1.0000e-02 1.0000
-1.0347e+00 0.0000e+00 1.0347e+00 1.0000
-2.6846e+00 2.3017e+00 3.5362e+00 0.7592
-2.6846e+00 -2.3017e+00 3.5362e+00 0.7592
-1.2692e+01 0.0000e+00 1.2692e+01 1.0000
Zeros:
real imaginary frequency damping
(rad/sec) ratio
-5.0000e-02 3.1225e-01 3.1623e-01 0.1581
-5.0000e-02 -3.1225e-01 3.1623e-01 0.1581
-5.0000e+00 0.0000e+00 5.0000e+00 1.0000
-2.0000e+01 0.0000e+00 2.0000e+01 1.0000
# Design H2 controller
K2 = h2syn(p,nmeas,nctrls)
rifd(K2)
Poles:
real imaginary frequency damping