Robust Control: dksyn example

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Martin Schweizer
Martin Schweizer 2015-4-15
回答： Huajing Zhao 2017-5-8
Hi everybody,
currently I try to get familiar with the robust control toolbox. I tried to understand the dksyn command example:
if true
%Uncertain plant Gpert
G = tf(1,[1 -1]);
Wu = 0.25*tf([1/2 1],[1/32 1]);
InputUnc = ultidyn('InputUnc',[1 1]);
Gpert = G*(1+InputUnc*Wu);
%Performance Weight
Wp = tf([1/4 0.6],[1 0.006]);
%Plant P/Pi
P = [Wp; 1 ]*[1 Gpert];
P2=[Wp,Wp*Gpert;
1,Gpert];
[K,clp,bnd] = dksyn(P,1,1);
[K2,clp2,bnd2] = dksyn(P2,1,1);
end
I don't understand, why the dksyn command is able to calculate a controller for P, but not for P2?! P and P2 are equal, are'nt they? Help is really appreciated. Thank you very much!
best regards
Martin

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回答（1 个）

Huajing Zhao
Huajing Zhao 2017-5-8
Well, the ss matrices created for P and P2 are actually different in dimensions... I tested it with matlab, and it appears that P.A is 6*6 while P2.A is 3*3. For B, C, D they are also different

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