382 Chapter 6. Function Reference
Parameter Li st
Inputs: p Generalized interconnection structure (Dynamic Sys-
tem)
nmeas measurement vector dimension.
ncon control vector dimension.
gH∞norm of suboptimal controller to be calculated. Re-
ferred to in the literature as gamma.
epr Tolerancefor determining whenthe Hamiltonian eigenval-
ues lie on the jω-axis.
Keywords: schur solution real Schur decomposition for Riccati solution (default)
eig solution eigendecomposition for Riccati solution.
Outputs: X Riccatisolution
Y Riccatisolution
Ric fail status of solution:
0 Solution found.
1jω axis eigenvalues in Hamiltonian
2 Unequal number of +ve & -ve eigenvalues in
Hamiltonian. This represents a numerical failure
in the eigenvalue ordering.
3 Both of the above errors detected.
f I ntermediatecalcula tion for scaling and normalization
h Intermediate calculation for scaling and normalization
HX XHamiltonia n
HY YHamiltonia n
HXmin Minimum absolute valueof the real part of the X Hamilto-
nian eigenvalues. In other words, how close to the jω axis
the eigenvalues lie.
HYmin Minimum absolute value of the real part of the Y Hamil-
tonian eigenvalues.