Chapter 4 ControllerSynthesis
© National Instruments Corporation 4-3 MATRIXx Xmath Robust Control Module
Equivalently, as a transfer matrix:
To enter the extended system, you must know the sizes of e and w shown
in Figure 4-1. The extended plant P can be constructed using the Xmath
interconnection functions, as shown in Example 4-1.
Building the Plant Model
The general form of the plant P is shown in Figure 4-2.
Figure 4-2. Construction of Plant P
The plant consists of three transfer matrices: Win and Wout, referred to as
weights, and G which can be interpreted as the system dynamics. Both P
and G distinguish inputs and outputs into two groups of variables.
The input/output variables are organized as follows:
• actuator/sensor variables
u—vector of actuator (control) signals
y—vector of sensor (measured) and other accessible signals
• exogenous inputs
v—vector of commands and disturbance
w—vector of “normalized” commands and disturbances
• performance outputs
z—vector of critical performance signals (regulated variables)
e—vector of “normalized” critical performance signals
Ps() D11 D12
D21 D22
C1
C2
sI A–()
1–B1B2
[]+=
wvz
e
u
y
Plant P
G
W
in
W
out