www.gusucode.com > robust 案例源码程序 matlab代码 > robust/StabilizingControllerForMIMOPlantExample.m

    %% Stabilizing Controller for MIMO Plant
% Stabilize a 4-by-5 unstable plant with three states, two measurement
% signals, and one control signal.
%%
% In practice, P is an augmented plant that you have constructed by
% combining a model of the system to control with appropriate H2 weighting
% functions. For this example, use a randomly-generated model.

% Copyright 2015 The MathWorks, Inc.

rng(0,'twister');
P = rss(3,4,5)';  
%%
% This command creates a 4-output, 5-input stable model and then takes its
% Hermitian conjugate.  This operation yields a 5-output, 4-input unstable
% model.  For this example, assume that one of the inputs is a control
% signal and two of the outputs are measurements.  
%
% Confirm that P is unstable.  All the poles are in the right half-plane.
pole(P)
%%
% Design the stabilizing controller, assuming NMEAS = 2 and NCON = 1.
[K,CL,GAM] = h2syn(P,2,1);
%%
% Examine the closed-loop system to confirm that the plant is stabilized. 
pole(CL)