National Instruments 370760B-01

134 CHAPTER 4. DEMONSTRATION EXAMPLES

gamma Hx eig X eig Hy eig Y eig nrho xy p/f

6.000 2.3e-02 5.6e-05 2.3e-02 0.0e+00 0.0626 p

3.400 2.3e-02 5.7e-05 2.3e-02 0.0e+00 0.2020 p

2.100 2.3e-02 5.9e-05 2.3e-02 0.0e+00 0.5798 p

1.450 2.3e-02 6.4e-05 2.3e-02 0.0e+00 1.4678 f

1.775 2.3e-02 6.1e-05 2.3e-02 0.0e+00 0.8652 p

1.613 2.3e-02 6.2e-05 2.3e-02 0.0e+00 1.1028 f

1.694 2.3e-02 6.1e-05 2.3e-02 0.0e+00 0.9725 p

1.653 2.3e-02 6.2e-05 2.3e-02 0.0e+00 1.0343 f

Gamma value achieved: 1.6938

comment k1 "controller: iteration 1"

comment gf1 "gamma value: iteration 1"

g1 = starp(himat ic,k1)

comment g1 "closed loop: iteration 1"

An H∞control law has been designed which achievesan inﬁnity norm of 1.6938 for the

interconnection structure provided. First, we will examine aspects of the controller that

was just designed, starting with the controller poles.

rifd(k1)

Poles:

real imaginary frequency damping

(rad/sec) ratio

-2.2609e-02 0.0000e+00 2.2609e-02 1.0000

-3.0000e-02 0.0000e+00 3.0000e-02 1.0000

-1.3833e+01 0.0000e+00 1.3833e+01 1.0000

-9.8959e+01 0.0000e+00 9.8959e+01 1.0000

-1.4712e+02 9.6846e+01 1.7613e+02 0.8353

-1.4712e+02 -9.6846e+01 1.7613e+02 0.8353

-7.4256e+03 0.0000e+00 7.4256e+03 1.0000