Inputs

P

Generalized plant. Must be a proper/realizable LTI model. If P is constructed with mktito or augw, arguments nmeas and ncon can be omitted.

Number of measured outputs v. The last nmeas outputs of P are connected to the inputs of controller K. The remaining outputs z (indices 1 to p-nmeas) are used to calculate the H-2 norm.

Number of controlled inputs u. The last ncon inputs of P are connected to the outputs of controller K. The remaining inputs w (indices 1 to m-ncon) are excited by a harmonic test signal.

Outputs

K

State-space model of the H-2 optimal controller.

State-space model of the lower LFT of P and K.

Structure containing additional information.

H-2 norm of N.

Vector rcond contains estimates of the reciprocal condition numbers of the matrices which are to be inverted and estimates of the reciprocal condition numbers of the Riccati equations which have to be solved during the computation of the controller K. For details, see the description of the corresponding SLICOT routine.

Block Diagram

 gamma = min||N(K)||             N = lft (P, K)
          K         2

                +--------+  
        w ----->|        |-----> z
                |  P(s)  |
        u +---->|        |-----+ v
          |     +--------+     |
          |                    |
          |     +--------+     |
          +-----|  K(s)  |<----+
                +--------+

                +--------+      
        w ----->|  N(s)  |-----> z
                +--------+
 

Algorithm
Uses SLICOT SB10HD and SB10ED, Copyright (c) 2020, SLICOT, available under the BSD 3-Clause (License and Disclaimer).

See also: augw, lqr, dlqr, kalman

Source Code: h2syn