132 CHAPTER 4. DEMONSTRATION EXAMPLES
Frequency
0.01 0.1 1 10 100 10000.001 10000
Magnitude
1
10
0.1
100
Weights for HIMAT
Perturbation weight
Performance weight
The perturbation weight,Wdel , should actually be two-input, two-output. This is also
true of the performance weight,Wp. Inthis example, we are weighting eachp erformance
channel identically. There is no requirement to do this and if we were more concerned
with errors in αthan errors in θ, then the appropriate channel would havea large weight
applied. The function daug is used to make the 2×2systems.
wdel = daug(wdel,wdel)
comment wdel "perturbation weight"
wp = daug(wp,wp)
comment wp "performance weight"
The design interconnection structure is now created with the sysic function. The result
is a state space system (8 states, 6 inputs and 6 outputs) called himat ic.
The first two inputs and outputs correspond to the multiplicative perturbation block.
Inputs and outputs 3 and 4 are the disturbance inputs& error outputs. The
measurements going to the controller appear on outputs 5 & 6. The control actuation is
put into the system on inputs 5 & 6.