www.gusucode.com > robust 案例源码程序 matlab代码 > robust/OptimalLoopsynLoopShapingControlExample.m
%% Optimal loopsyn Loop-Shaping Control % Calculate the optimal |loopsyn| loop shaping control for a 5-state, % 4-output, 5-input plant with a full-rank nonmininum-phase zero at _s_ = % 10. %% % Copyright 2015 The MathWorks, Inc. rng(0,'twister'); s = tf('s'); w0 = 5; Gd = 5/s; % desired bandwidth w0=5 G =((s-10)/(s+100))*rss(3,4,5); % 4-by-5 non-min-phase plant [K,CL,GAM,INFO] = loopsyn(G,Gd); sigma(G*K,'r',Gd*GAM,'k-.',Gd/GAM,'k-.',{.1,100}) % plot result legend('G*K','Gd*GAM','Gd/GAM') %% % This plot shows that the controller |K| optimally fits |sigma(G*K)|. The % controller falls between |sigma(Gd)+ GAM| and |sigma(Gd)- GAM| (expressed in dB). In this % example, |GAM| = 2.0423 = 6.2026 dB.