Linear Matrix Inequalities in Control
Linear Matrix Inequalities in Control
Linear Matrix Inequalities in Control
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Synthesis (11)<br />
H-<strong>in</strong>f loop shap<strong>in</strong>g<br />
z1<br />
W1<br />
w<br />
-<br />
y<br />
K<br />
u<br />
G<br />
d<br />
+<br />
W3<br />
z3<br />
z<br />
Basic idea:<br />
W1<br />
( s)<br />
S(<br />
s)<br />
W ( s)<br />
T(<br />
s)<br />
3<br />
1<br />
The sensitivity functions:<br />
L(<br />
s)<br />
S(<br />
s)<br />
T(<br />
s)<br />
G(<br />
s)<br />
K(<br />
s)<br />
( I<br />
( I<br />
G(<br />
s)<br />
K(<br />
s))<br />
1<br />
( I<br />
L(<br />
s))<br />
1<br />
G(<br />
s)<br />
K(<br />
s))<br />
G(<br />
s)<br />
K(<br />
s)<br />
I<br />
1<br />
S(<br />
s)<br />
( I<br />
1<br />
L(<br />
s))<br />
L(<br />
s)<br />
KSO materiały do wykładu 2008/09 70<br />
Optimisation setup:<br />
w<br />
m<strong>in</strong><br />
K<br />
u<br />
T<br />
P<br />
K<br />
w z<br />
Synthesis (12)<br />
H-<strong>in</strong>f loop shap<strong>in</strong>g<br />
y<br />
( s)<br />
z1<br />
z3<br />
z<br />
„Clever” selection of the<br />
z<strong>in</strong>f<br />
z1<br />
z3<br />
y<br />
x<br />
z<br />
y<br />
z<br />
w<br />
P<br />
u<br />
C x<br />
W1<br />
0<br />
I<br />
D u<br />
WG<br />
1<br />
W3G<br />
G<br />
Ax Buu<br />
Bww<br />
C x D<br />
uu<br />
D<br />
ww<br />
C x D u D w<br />
z<br />
y<br />
yu<br />
zu<br />
yw<br />
D w<br />
zw<br />
w<br />
u<br />
KSO materiały do wykładu 2008/09 71<br />
Demo no.9<br />
Optimiser: SeDuMi<br />
Preprocesor: YALMIP<br />
G ( s)<br />
1<br />
G ( s)<br />
2<br />
G ( s)<br />
3<br />
1 a<br />
2<br />
s ( s a)<br />
G0<br />
( I );<br />
1<br />
2 2<br />
2<br />
s ( s 2s<br />
)<br />
G0<br />
( I );<br />
1 s 1 b s<br />
e ;<br />
2<br />
2<br />
s s b s<br />
G0<br />
( I );<br />
filters W 1 and W 3<br />
1<br />
2<br />
2<br />
3<br />
KSO materiały do wykładu 2008/09 72<br />
( s)<br />
1<br />
( s)<br />
( s)<br />
3<br />
2<br />
s<br />
;<br />
s a<br />
2<br />
s 2s<br />
2<br />
s 2s<br />
2s<br />
;<br />
b s<br />
2<br />
;<br />
Design controller by the loop shap<strong>in</strong>g method tak<strong>in</strong>g <strong>in</strong>to<br />
account all possible neglected dynamics.<br />
24