control.mixsyn

control.mixsyn(g, w1=None, w2=None, w3=None)

Mixed-sensitivity H-infinity synthesis.

mixsyn(g,w1,w2,w3) -> k,cl,info

Parameters

  • g (LTI; the plant for which controller must be synthesized) –

  • w1 (At least one of) –

  • w2 (weighting on k*s; None, or scalar or k2-by-nu LTI) –

  • w3 (weighting on t = g*k*(1+g*k)**-1; None, or scalar or k3-by-ny LTI) –

  • w1 –

  • w2 –

  • None. (and w3 must not be) –

Returns

  • k (synthesized controller; StateSpace object)

  • cl (closed system mapping evaluation inputs to evaluation outputs; if)

  • p is the augmented plant, with – [z] = [p11 p12] [w], [y] [p21 g] [u]

  • then cl is the system from w->z with u=-k*y. StateSpace object.

  • info (tuple with entries, in order,) –

    • gamma: scalar; H-infinity norm of cl

    • rcond: array; estimates of reciprocal condition numbers computed during synthesis. See hinfsyn for details

  • If a weighting w is scalar, it will be replaced by I*w, where I is

  • ny-by-ny for w1 and w3, and nu-by-nu for w2.

See also

hinfsyn, augw