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

Chapter 1 Introduction

• Xmath Optimization Module

• Xmath Robust Control Module

•Xmath X

μ

Module

MATRIXx Help

Robust Control Module function reference information is available in the

MATRIXx Help. The MATRIXx Help includes all Robust Control functions.

Each topic explains a function’s inputs, outputs, and keywords in detail.

Refer to Chapter 2, MATRIXx Publications, Help, and Online Support, of

the MATRIXx Getting Started Guide for complete instructions on using the

Help feature.

Overview

RCM functionality is structured as shown in Figure 1-1.

Contents

Main Page Important Information Warranty Copyright Trademarks Patents Conventions Contents Chapter 1 Introduction Chapter 2 Robustness Analysis Page Introduction Using This Manual Document Organization Bibliographic References Commonly-Used Nomenclature Related Publications MATRIXx Help Overview Page Robustness Analysis Modeling Uncertain Systems Page Stability Margin (smargin) smargin( ) Creating a Nominal System Page Page Page Worst-Case Performance Degradation (wcbode) wcbode( ) Using wcbode( ) to Analyze Performance Degradation Advanced Topics Stability Margin Stability Margin and Structured Singular Values () Stability Margin Bounds Using Singular Values Use of Scaling Example Approximation with Scaled Singular Values Page Comparing Scaling Algorithms ssv( ) ssv( ) Examples osscale( ) pfscale( ) optscale( ) Reducibility Worst-Case Performance Degradation (wcgain) Conversion to a Stability Margin Problem wcgain( ) System Evaluation Singular Value Bode Plots Page L Infinity Norm (linfnorm) linfnorm( ) Page Page Singular Value Bode Plots of Subsystems perfplots( ) Page Page clsys( ) nw nz Page Controller Synthesis H-Infinity Control Synthesis Problem Definition Extended Transfer Matrix Building the Plant Model Page Weight Selection Page Restrictions on the Extended Plant hinfcontr( ) Page Page Page Page singriccati( ) Linear-Quadratic-Gaussian Control Synthesis LQG Frequency Shaping fsregu( ) Page fsesti( ) fslqgcomp( ) Frequency-Shaped Control Design Commands Page frequency-shaped control signal v. Design a frequency-shaped regulator: 8. Calculate the frequency-shaped estimator: The compensator should be structured as shown in Figure4-7. The fslqgcomp( ) function can be used to develop the compensator. 9. Design the LQG compensator. Enforce negative feedback: Loop Transfer Recovery (lqgltr) lqgltr( ) Page A Bibliography Page Page B Technical Support and Professional Services Index O P R S T