National Instruments 370760B-01

4.1. THE HIMATEXAMPLE 137

-2.2517e-02 0.0000e+00 2.2517e-02 1.0000

-2.2600e-02 0.0000e+00 2.2600e-02 1.0000

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

-2.9369e+00 0.0000e+00 2.9369e+00 1.0000

-2.9974e+00 0.0000e+00 2.9974e+00 1.0000

-4.8310e+00 0.0000e+00 4.8310e+00 1.0000

-6.5876e+00 0.0000e+00 6.5876e+00 1.0000

-5.8350e+01 -5.6049e+01 8.0909e+01 0.7212

-5.8350e+01 5.6049e+01 8.0909e+01 0.7212

-8.8792e+01 -4.2881e+01 9.8604e+01 0.9005

-8.8792e+01 4.2881e+01 9.8604e+01 0.9005

-9.9778e+01 0.0000e+00 9.9778e+01 1.0000

-7.4258e+03 0.0000e+00 7.4258e+03 1.0000

-1.0000e+04 0.0000e+00 1.0000e+04 1.0000

Zeros:

ans (a scalar) = 0

Now calculate a closed loop frequency response. This results in a 4x4 pdm:g1g

g1g=freq(g1,om2)

comment g1g "frequency response of g1"

The singular values of the closed loop system are calculated. The maximum of the

singular values overfr equency is also calculated and compared to γ.Asγisa

guaranteed upper bound on the inﬁnity norm, this value should be less.

g1gs = svd(g1g)

comment g1gs "closed loop singular value: iteration 1"

gph3 = ctrlplot(g1gs,{log});

gph3 = plot(gph3,{!grid,...

title="Singular value plot of the closed loop"})?