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%% Weighted Constraint on H2 Norm % Create a constraint for a transfer function with one input, |r|, and two % outputs, |e| and |y|, that limits the $H_{2}$ norm as follows: % % % $${\left\| {\begin{array}{c} % { \displaystyle \frac{1}{s + 0.001}T_{re}}\\[1.75ex] % { \displaystyle \frac{s}{0.001s + 1}T_{ry}} % \end{array}} \right\|_2} < 1.$$ % % $T_{re}$ is the closed-loop transfer function from |r| to |e|, and $T_{ry}$ % is the closed-loop transfer function from |r| to |y| . %% s = tf('s'); WL = blkdiag(1/(s+0.001),s/(0.001*s+1)); Req = TuningGoal.WeightedVariance('r',{'e','y'},WL,[]);