LMI求解鲁棒控制器_matlab源码.rar

format short e w=logspace(-2,6,100); Psys=nd2sys([1],[1 0 0],3.87e7); W1sys=nd2sys([1 125.7],[1 1e-4],5e-1); W2num1=[1 1e+4 5.7e+7]; W2den1=[1 1.2e+4 4.04e+8]; W2sys1=nd2sys(W2num1,W2den1); W2sys=mmult(W2sys1,W2sys1,23.9); W3sys=0.1; W4sys=nd2sys([10 10*0.5*0.5e4],[1 10*5e4]); W1fr=frsp(Psys,w); W2fr=frsp(W2sys,w); W3fr=frsp(W3sys,w); W4fr=frsp(W4sys,w); figure(1); vplot('liv,lm',W1fr,W2fr,W3fr,W4fr); title('Weighting Functions') xlabel('frequency[rad/s]') ylabel('Gain') legend('W1fr','W2fr','W3fr','W4fr'); grid; systemnames='Psys W1sys W2sys W3sys W4sys'; inputvar='[w1;w2;u]'; outputvar='[W1sys;W2sys;W4sys;w2+Psys]'; input_to_W3sys='[w1]'; input_to_Psys='[u+W3sys]'; input_to_W1sys='[Psys+w2]'; input_to_W2sys='[Psys]'; input_to_W4sys='[u]'; sysoutname='Gpsys'; cleanupsyssic='yes'; sysic; disp(['H00 controller Design with hinfsyn']); K=[]; glow=0;ghigh=10;tol=1e-2; while isempty(K)==1&&ghigh<1e6 [K,CL,gopt]=hinfsyn(Gpsys,1,1,glow,ghigh,tol); if isempty(K)==1&&ghigh<1e6 ghigh=ghigh*10; tol=ghigh*1e-3; end clear CL ghigh glow tol end; Kfr=frsp(K,w)'; figure(2); subplot(2,1,1) vplot('liv,lm',Kfr'); title('Bode plot of Controller') xlabel('frequency[rad/s]') ylabel('Gain') grid; subplot(2,1,2) vplot('liv,p','Kfr'); xlabel('frequency[rad/s]') ylabel('Phase(degrees)') grid; systemnames='Psys K'; inputvar='[w;r]'; outputvar='[Psys+r;K]'; input_to_Psys='[K+w]'; input_to_K='[Psys+r]'; sysoutname='Clsys'; cleanupsysic='yes'; sysic; [pa,pb,pc,pd]=unpck(Psys); [ka,kb,kc,kd]=unpck(K); [da,db,dc,dd]=unpck(sel(Clsys,1,1)); [ua,ub,uc,ud]=unpck(sel(Clsys,2,1)); t=[0:0.0001:0.1]; [y,x,t]=step(da,db,dc,dd,1,t); [u,x,t]=step(ua,ub,uc,ud,1,t); figure(3) subplot(2,1,1) plot(t,y) axis([0 0.1 0 16]) xlabel('Time[s]') ylabel('Amplitude') title('Step disturbance response') grid on; subplot(2,1,2) plot(t,u) axis([0 0.01 -1.7 0]) xlabel('Time[s]') ylabel('u[V]') title('Input') grid on;