matlab hinfsyn,Option set for hinfsyn and mixsyn - MATLAB hinfsynOptions - MathWorks 中国

Use the LMI-based algorithm to compute an H∞-optimal controller for a plant with one control signal and two measurement signals. Turn on the display that shows the progress of the computation. Use hinfsynOptions to specify these algorithm options.

Load the plant and specify the numbers of measurements and controls.

load hinfsynExData P

ncont = 1;

nmeas = 2;

Create an options set for hinfsyn that specifies the LMI-based algorithm and turns on the display.

opts = hinfsynOptions('Method','LMI','Display','on');

Alternatively, start with the default options set, and use dot notation to change option values.

opts = hinfsynOptions;

opts.Method = 'LMI';

opts.Display = 'on';

Compute the controller.

[K,CL,gamma] = hinfsyn(P,nmeas,ncont,opts);

Minimization of gamma:

Solver for linear objective minimization under LMI constraints

Iterations : Best objective value so far

1

2 223.728733

3 138.078240

4 138.078240

5 74.644885

6 48.270221

7 48.270221

8 48.270221

9 19.665676

10 19.665676

11 11.607238

12 11.607238

13 11.607238

14 4.067958

15 4.067958

16 4.067958

17 2.154349

18 2.154349

19 2.154349

20 1.579564

21 1.579564

22 1.579564

23 1.236726

24 1.236726

25 1.236726

26 0.993341

27 0.993341

28 0.949317

29 0.949317

30 0.949317

31 0.945765

32 0.944068

33 0.941253

34 0.941253

35 0.940613

*** new lower bound: 0.931677

Result: feasible solution of required accuracy

best objective value: 0.940613

guaranteed absolute accuracy: 8.94e-03

f-radius saturation: 0.404% of R = 1.00e+08

Optimal Hinf performance: 9.397e-01