Linear Matrix Inequalities in Control

Synthesis (5)
Design of static, state controller
Analysis of the design (closed loop)
x A x B w; x x; A A B K B B ;
u
z
z
z
cl
2
cl
cl
cl
K xcl;
( C D
uK)
x
( C2
D2u
K)
xcl
( C D K)
x
z
zu
cl
If norm H 2 is used then
cl
cl
D
ww;
D2
ww;
D w;
D 2w
zw
0.
cl
;
cl w
KSO materiały do wykładu 2008/09 61
u
Synthesis (6)
Design of static, state controller
Another structure for uncertain plants.
w
-
e
1/s
v
+
u
G
K
x
z
No problems with static gain.
KSO materiały do wykładu 2008/09 62
Optimiser: SeDuMi
Demo no.6
10
s)
;
s as b
1..3 ; b 8..12 ;
G i
(
2
a
Preprocesor: YALMIP
Design state space controller for all „corner” plants
using pole-placement.
KSO materiały do wykładu 2008/09 63
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