4.1. THE HIMATEXAMPLE 131
angle-of-attack
pitch angle
System is continuous
4.1.3 Creating a Weighted Interconnection Structure for Design
The multiplicative input perturbation weight, Wdel, is constructed as a transfer function.
The weight is,
Wdel =50(s+100)
(s+10000) .
The output error weight, Wp, is created as,
Wp=0.5(s+3)
(s+0.03).
This will be used as the performance weight. The appropriate commands are:
wdel = makepoly([50,5000])/makepoly([1,10000])
wp = makepoly([0.5,1.5])/makepoly([1,0.03])
These can be displayed on a frequency response plot for comparison purp oses.
om1 = logspace(0.001,10000,100) # frequency vector (Hz)
wdelg = freq(wdel,om1)
comment wdelg "frequency response of wdel"
wpg = freq(wp,om1)
comment wpg "frequency response of wp"
gph1 = ctrlplot([wdelg,wpg],{logmagplot});
gph1 = plot(gph1,{title="Weights for HIMAT",!grid,...
legend=["Perturbation weight";"Performance weight"]})?