LTI系统的状态空间H∞控制matlab设计.zip

classdef problem % PROBLEM Extended H-infinity controller synthesis problem % This file is part of sshinfcd. % Copyright (c) 2022, Laurens Jacobs, MECO Research Team @ KU Leuven. % % sshinfcd is free software: you can redistribute it and/or modify it under % the terms of the GNU Lesser General Public License as published by the % Free Software Foundation, version 3. % % sshinfcd is distributed in the hope that it will be useful, but WITHOUT % ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or % FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public % License for more details. % % You should have received a copy of the GNU Lesser General Public License % along with sshinfcd. If not, see <https://www.gnu.org/licenses/>. properties % P - Generalized plant % A state-space realization of the (unweighted) generalized plant. P % Wi - Input weighting filter % A state-space realization of the input weighting filter. Wi % Wo - Output weighting filter % A state-space realization of the output weighting filter. Wo % specs - Desired performance specifications % Structure array indicating the performance channels and their relative weights. specs % region - Desired closed-loop D-stability specificions % Structure array indicating the closed-loop pole region constraints. region % watchdog - A watchdog for monitoring % The watchdog keeps track of all processes that happen on objects of this class. watchdog end methods %% Constructor, input checking, standard form function obj = problem(watchdog, P, Wi, Wo, specs, region) % PROBLEM Constructor % construct the object assert(isa(watchdog,'sshinfcd.watchdog.watchdog'), 'Invalid watchdog.'); obj.watchdog = watchdog; obj.P = P; obj.Wi = Wi; obj.Wo = Wo; obj.specs = specs; obj.region = region; % check the validity of the input obj.checkInput(); % preprocess the object obj = obj.standardfilters(); obj = obj.balreal(); obj.checkassumptions(); obj = obj.sortchannels(); end function checkInput(obj) % CHECKINPUT Checks the validity of the input arguments % check member types obj.watchdog.assertType(obj.watchdog, 'sshinfcd.watchdog.watchdog', 'Invalid watchdog type.'); obj.watchdog.assertType(obj.P, 'numlti', 'P is not a standard MATLAB representation of an LTI system.'); obj.watchdog.assertType(obj.Wi, 'numlti', 'Wi is not a standard MATLAB representation of an LTI system.'); obj.watchdog.assertType(obj.Wo, 'numlti', 'Wo is not a standard MATLAB representation of an LTI system.'); obj.watchdog.assertType(obj.specs, 'struct', 'specs is not a structure.'); obj.watchdog.assertType(obj.region, 'struct', 'region is not a structure.'); % check sample times obj.watchdog.assertCond(obj.P.Ts==obj.Wi.Ts && obj.P.Ts==obj.Wo.Ts, 'Sampling times of Wi, Wo and P should be equal.'); % assert compatible sizes obj.watchdog.assertCond(size(obj.P,1)>size(obj.Wo,2), 'At least one measured output is required.'); obj.watchdog.assertCond(size(obj.P,2)>size(obj.Wi,1), 'At least one control input is required.'); % check specifications obj.watchdog.assertField(obj.specs, 'in', 'specs requires a field ''in''.'); obj.watchdog.assertField(obj.specs, 'out', 'specs requires a field ''out''.'); obj.watchdog.assertField(obj.specs, 'weight', 'specs requires a field ''weight''.'); cellfun(@(x) obj.watchdog.assertNonEmpty(x, 'A specification cannot have zero performance inputs.'), {obj.specs.in}); cellfun(@(x) obj.watchdog.assertType(x, 'double', 'specs.in can only contain numeric values.'), {obj.specs.in}); cellfun(@(x) obj.watchdog.assertCond(all(mod(x,1)==0) && all(x>0), 'specs.in can only contain integer values.'), {obj.specs.in}); cellfun(@(x) obj.watchdog.assertNonEmpty(x, 'A specification cannot have zero performance outputs.'), {obj.specs.out}); cellfun(@(x) obj.watchdog.assertType(x, 'double', 'specs.out can only contain numeric values.'), {obj.specs.out}); cellfun(@(x) obj.watchdog.assertCond(all(mod(x,1)==0) && all(x>0), 'specs.out can only contain integer values.'), {obj.specs.out}); cellfun(@(x) obj.watchdog.assertNonEmpty(x,'A specification requires a weight. Set to 0 to handle it as a normalized constraint.'), {obj.specs.weight}); cellfun(@(x) obj.watchdog.assertType(x, 'double', 'specs.weight can only contain numeric values.'), {obj.specs.weight}); cellfun(@(x) obj.watchdog.assertCond(all(x>=0) && isscalar(x), 'specs.weight can only positive scalars or 0.'), {obj.specs.weight}); obj.watchdog.assertField(obj.region, 'M', 'region requires a field ''M''.'); obj.watchdog.assertField(obj.region, 'L', 'region requires a field ''L''.'); cellfun(@(x) obj.watchdog.assertType(x, 'double', 'region.M can only contain numeric values.'), {obj.region.M}); cellfun(@(x) obj.watchdog.assertType(x, 'double', 'region.L can only contain numeric values.'), {obj.region.L}); cellfun(@(x) obj.watchdog.assertCond(isreal(x) && issymmetric(x), 'region.L can only contain real symmetric matrices.'), {obj.region.L}); cellfun(@(x) obj.watchdog.assertCond(isreal(x), 'region.M can only contain real matrices.'), {obj.region.M}); cellfun(@(x,y) obj.watchdog.assertCond(size(x,1)==size(y,1) && issymmetric(y), 'region.M and region.L must have the same number of rows. In addition, L must be symmetric.'), {obj.region.M}, {obj.region.L}); obj.watchdog.assertCond(max(vertcat(obj.specs.in))<=size(obj.Wi,2), 'A performance input exceeding the inputs of the input weighting filter was requested.'); obj.watchdog.assertCond(max(vertcat(obj.specs.out))<=size(obj.Wo,1), 'A performance output exceeding the outputs of the output weighting filter was requested.'); obj.watchdog.warnCond(all(ismember(1:size(obj.Wi,2),vertcat(obj.specs.in))),'Some performance inputs do not appear in the specifications. They will therefore be ignored.'); obj.watchdog.warnCond(all(ismember(1:size(obj.Wo,1),vertcat(obj.specs.out))),'Some performance outputs do not appear in the specifications. They will therefore be ignored.'); end function obj = sortchannels(obj) % SORTCHANNELS Sorts the specifications and its performance inputs and outputs obj.Wi = obj.Wi(:,vertcat(obj.specs.in)); obj.Wo = obj.Wo(vertcat(obj.specs.out),:); chi = 0; cho = 0; for k=1:length(obj.specs) obj.specs(k).in = (chi+1):(chi+length(obj.specs(k).in)); chi = chi+length(obj.specs(k).in); obj.specs(k).out = (cho+1):(cho+length(obj.specs(k).out)); cho = cho+length(obj.specs(k).out); end end function checkassumptions(obj) % CHECKASSUMPTIONS Check the assumptions for the extended H-infinity control problem % conditions on P obj.watchdog.assertCond(sshinfcd.util.isdtcb(obj.P) && sshinfcd.util.isstbz(obj.P), 'P should be finite dynamics detectable and stabilizable.'); % conditions on Wi obj.watchdog.assertCond(sshinfcd.util.isctrb(obj.Wi), 'Wi should be controllable.'); % conditions on Wo obj.watchdog.asse