control.hinfsyn
- control.hinfsyn(P, nmeas, ncon)[source]
H_{inf} control synthesis for plant P.
- Parameters
P (partitioned lti plant) –
nmeas (number of measurements (input to controller)) –
ncon (number of control inputs (output from controller)) –
- Returns
K (controller to stabilize P (State-space sys))
CL (closed loop system (State-space sys))
gam (infinity norm of closed loop system)
rcond (4-vector, reciprocal condition estimates of:) – 1: control transformation matrix 2: measurement transformation matrix 3: X-Riccati equation 4: Y-Riccati equation
TODO (document significance of rcond)
- Raises
ImportError – if slycot routine sb10ad is not loaded
See also
Examples
>>> # Unstable first order SISI system >>> G = ct.tf([1], [1,-1], inputs=['u'], outputs=['y']) >>> max(G.poles()) < 0 False
>>> # Create partitioned system with trivial unity systems >>> P11 = ct.tf([0], [1], inputs=['w'], outputs=['z']) >>> P12 = ct.tf([1], [1], inputs=['u'], outputs=['z']) >>> P21 = ct.tf([1], [1], inputs=['w'], outputs=['y']) >>> P22 = G >>> P = ct.interconnect([P11, P12, P21, P22], inplist=['w', 'u'], outlist=['z', 'y'])
>>> # Synthesize Hinf optimal stabilizing controller >>> K, CL, gam, rcond = ct.hinfsyn(P, nmeas=1, ncon=1) >>> T = ct.feedback(G, K, sign=1) >>> max(T.poles()) < 0 True