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

StateSpace

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