Linear Matrix Inequalities in Control
Linear Matrix Inequalities in Control
Linear Matrix Inequalities in Control
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Analysis (4)<br />
Robust stability – example<br />
q Δ<br />
k<br />
w<br />
u<br />
e<br />
F C G o<br />
k<br />
p<br />
z<br />
2<br />
k<br />
q<br />
z<br />
2<br />
k G0C(<br />
I G0C)<br />
1<br />
k(<br />
I G C)<br />
0<br />
1<br />
kG0CF(<br />
I<br />
G CF(<br />
I<br />
0<br />
G0C)<br />
G C)<br />
0<br />
1<br />
1<br />
p<br />
w<br />
KSO materiały do wykładu 2008/09 49<br />
A<br />
C<br />
A<br />
Analysis (5)<br />
Robust stability – example<br />
G<br />
0<br />
C1<br />
C<br />
k max<br />
2<br />
0<br />
1<br />
; C<br />
2<br />
s<br />
B0Dr<br />
C<br />
BrC0<br />
0<br />
kC0<br />
C<br />
0<br />
0<br />
0.748<br />
B0Cr<br />
Ar<br />
0<br />
2.35(1 s)<br />
; F<br />
(1 0.1s<br />
)<br />
0 0<br />
; D<br />
0 0<br />
B0Dr<br />
C<br />
f<br />
BrC<br />
f<br />
A<br />
f<br />
D<br />
D<br />
11<br />
21<br />
; B<br />
D<br />
D<br />
12<br />
22<br />
1.2<br />
;<br />
s 1.2<br />
B0Dr<br />
k<br />
Brk<br />
0<br />
0<br />
k<br />
0<br />
0<br />
KSO materiały do wykładu 2008/09 50<br />
;<br />
B0Dr<br />
Df<br />
Br<br />
Df<br />
B<br />
f<br />
;<br />
Demo no.4<br />
Optimiser: SeDuMi<br />
Preprocesor: YALMIP<br />
Run the presented example with some simulations to<br />
confirm the result.<br />
KSO materiały do wykładu 2008/09 51<br />
17