Loopshaping loopsyn > Robust control toolbox

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Özgür
Özgür 2011-6-12
Hello,
I'm trying to find controller my 1x2 (1 input, 2 output) model using loopsyn command; I'm getting error below when I tried to use command loopsyn
??? Error using ==> lti.loopsyn at 204 Ill-posed problem -- plant G cannot have more outputs than inputs
Error in ==> Untitled4 at 15 [K,CL,GAM,INFO]=loopsyn(ltcp_nom,Gd); % Design a loop-shaping controller K
See my m code below that I'm using for system model, and please give me advise that where am I doing mistake ??
Thanks, Özgür
clc;
clear;
g=9.81;
b=0.1;
M_n=3;
m_n=1;
l_n=1;
A_n=[0 1 0 0;0 -b/M_n -m_n*g/M_n 0;0 0 0 1;0 b/M_n*l_n (M_n+m_n)*g/M_n*l_n 0];
B_n=[0;1/M_n;0;-1/M_n*l_n];
C_n=[1 0 0 0;0 0 1 0];
D_n=[0;0];
ltcp_nom = ss(A_n,B_n,C_n,D_n);
s=tf('s'); w0=0.4; Gd=w0/s;
[K,CL,GAM,INFO]=loopsyn(ltcp_nom,Gd); % Design a loop-shaping controller K

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