. , , . . H- - , , . MIMO SISO , Simulink . .
Simulink
H- -
LMI- -, ,
, Hankel singular values
, Toolbox .
LTI. , , , . . , .
LTI , MATLAB , . , , , Toolbox , LFT.
: ACC Benchmark Problem
, " Benchmark" [13], , .
ACC Benchmark Problem
- , .
m 1, m 2, k , 20%:
m1 = 1 0,2
m2 = 1 0,2
= 1 0,2
" Benchmark" - y1 = P(s) u1
|
|
- F (s):
P , :
% M1, M2,
m1 = ('m1', 1, '', 20);
m2 = (2, 1, '', 20);
= ('' 1, '', 20);
S = ("S");%
G1 = (1 / ^ 2) / m1;% 1
G2 = (1 / ^ 2) / 2;% 2
% F P
F = [0; G1] * [1 -1] + [1, -1] [0, G2];
P = LFT (F, )% k
SISO - (USS) , 1, 2, .
(P.nominal)
Zero / / :
1
--------------
s^2 (s^2 + 2)
P (S) LTI
y 1 = T (s) u 1 t=0 to t=0.1 - k, m1, and m2 :
C=100*ss((s+1)/(.001*s+1))^3 % LTI controllerT=feedback(P*C,1); % closed-loop uncertain systemstep(usample(T,5),.1);
.
-
, . -, usample , - , - . -, , , .
, , .
:
loopmargin -
loopsens -
ncfmargin -
robustperf -
robuststab -
wcgain -
wcmargin - /
wcsens -
: ACC Two-Cart Benchmark Problem
: ACC Benchmark, :
T = (P * C, 1);%
, , M1 M2, 1 20% . , , :
[StabilityMargin, Udestab, ] = robuststab (T);
:
.
- 311% .
- 500% ,
44,3 / .
, 20% , , , M1 M2 - 311% 500% 20%, .. 62,2% 100%. Udestab 500% :
Udestab =
: 1.2174e-005
m1: 1.2174e-005
2: 2,0000.
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311% 500% , 20% . 20% ? T, , :
[PeakGain, ] = wcgain (T);
Twc = usubs (T, );
% T
= usample (, 4);
% 4 T
bodemag (TWC, , , {}.5,50 "B-".);%
(T_ {} - ,...
T_ {} - , 3);
.