ccontrg - central H-infinity controller

Calling Sequence

[K]=ccontrg(P,r,gamma);

Parameters

• P : syslin list (linear system in state-space representation)
• r : 1x2 row vector, dimension of the 2,2 part of P
• gamma : real number

Description

returns a realization K of the central controller for the general standard problem in state-space form.

Note that gamma must be > gopt (ouput of gamitg)

P contains the parameters of plant realization (A,B,C,D) (syslin list) with

B = ( B1 , B2 ) ,        C= ( C1 ) ,    D = ( D11  D12)
                            ( C2 )          ( D21  D22)
   

r(1) and r(2) are the dimensions of D22 (rows x columns)

See Also

gamitg  h_inf  

Author

P. Gahinet (INRIA);