National Instruments 370757C-01, NI MATRIX Xmath Robust Control Module - page 56

Chapter 4 ControllerSynthesis
© National Instruments Corporation 4-15 MATRIXx Xmath Robust Control Module
This expression can be converted into the following form [Gu80]:
If R(jω) is not a function of frequency, then C12= 0 and D=I.
Note The system has a new input v and the old input u is now the output of the system.
This structure is only used for computational convenience.
Define:
Thus,
After the system is put in this form, you are ready to use the fsregu( )
function. For more information on the fsregu( ) syntax, refer to the
Xmath Help.
x
·
x
·′
A11 A12
A21 A22
x
x′
B1
B2
v+=
⎧ ⎪ ⎨ ⎪ ⎩
⎧ ⎨ ⎩
u0C12
x
x′Dv+=
⎧ ⎪ ⎨ ⎪ ⎩
{
AcBc
CcDc
xA
x
x'
=
x
·AAcxABcv+=
uC
cxADcv+=
J1
2
---xA
*RxxAxAv*RuuAv2xA *
+RxuAv+()dω
∞
∫
=