4.1. THE HIMATEXAMPLE 145
1 10 100 10000.1 10000
0.6
0.8
1
1.2
1.4
1.6
0.4
1.8
Robustness analysis for the g2 system
g2: mu upper bound
g2: mu lower bound
g1: mu upper bound
g1: mu lower bound
comment bnds2 "mu bounds: iteration 2"
comment D2 "D scale: iteration 2"
comment D2inv "D inverse scale: iteration 2"
comment Delta2 "worst case perturbation: iteration 2"
comment sens2 "D scale sensitivity: iteration 2"
Here we have only done a single D-Kiteration. We are now much closer to the
specifications although we still do not quite meet them. In practice several more
iterations could be run to further improve the µdesign. The next iteration would use
the commands:
[D2sys,D2invsys] = musynfit(D2,blk,nmeas,nctrls,sens2,g2g)
himat ic3 = D2sys*himat ic*D2invsys
k3 = hinfsyn(himat ic3,,nmeas,nctrls,gammabounds,tol=0.05)
and to analyze it we would use the commands: