258 Chapter 6. Function Reference
Description
The H∞(sub)optimal controller for the interconnection, p, is calculated. The resulting
closed loop system is illustrated below.
pk-
zw
y
u
The variablesncon and nmeas are used to sp ecify the dimensions of uand yin the above
diagram (ncon = dim(u)andnmeas = dim(y)). The objective is to design a stabilizing
controller, k, whichminimizes the H2norm of the closed lo op system betweenwand z.
The closed loop system can be formed with the command,
clpsys=starp(p,k).
pis a state-space system, which can be partitioned with respect to [z;y]and[w;u]in
the following way.
p=
ab1b2
c1d11 d12
c2d21 d22
.
The following assumptions must hold: