www.gusucode.com > control 案例程序 matlab源码代码 > control/WeightedPassivityAndInputPassivityExample.m
%% Weighted Passivity and Input Passivity % Create a tuning goal that enforces the passivity of the transfer % function: % % $$H\left( s \right) = \left[ {\begin{array}{*{20}{c}} % 1&0\\ % 0&{10} % \end{array}} \right]T\left( s \right)\left( {\frac{1}{s}} \right),$$ % % where $T\left( s \right)$ is the transfer function from an input |'d'| to % outputs |['y';'z']| in a control system model. %% WL = tf(1,[1 0]); WR = diag([1 10]); TG = TuningGoal.WeightedPassivity('d',{'y','z'},WL,WR); %% % Use |TG| with |systune| to enforce that weighted passivity requirement. %% % Suppose that instead of enforcing overall passivity of the weighted % transfer function _H_, you want to ensure that _H_ is input strictly % passive with an input feedforward passivity index of at least 0.1. To do % so, set the |IPX| property of |TG|. TG.IPX = 0.1;