2 %% Frequency-weighted coprime factorization controller reduction.
4 % ===============================================================================
5 % Coprime Factorization Controller Reduction Lukas Reichlin December 2011
6 % ===============================================================================
7 % Reference: Anderson, B.D.O.: Controller Reduction: Concepts and Approaches
8 % IEEE Transactions of Automatic Control, Vol. 34, No. 8, August 1989
9 % ===============================================================================
12 clear all, close all, clc
15 A = [ -0.161 -6.004 -0.58215 -9.9835 -0.40727 -3.982 0.0 0.0
16 1.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
17 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0
18 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0
19 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0
20 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0
21 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0
22 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 ];
33 C = [ 0.0 0.0 6.4432e-3 2.3196e-3 7.1252e-2 1.0002 0.10455 0.99551 ];
38 H = [ 0.0 0.0 0.0 0.0 0.55 11.0 1.32 18.0 ];
41 q2 = 100; % [100, 1000, 2000]
52 % Coprime Factorization using Balanced Truncation Approximation
55 Kr = cfconred (G, F, L, k); % 'method', 'bfsr-bta'
62 % Coprime Factorization using Singular Perturbation Approximation
65 Kr = cfconred (G, F, L, k, 'method', 'bfsr-spa');
72 % Frequency-Weighted Coprime Factorization using BTA
75 Kr = fwcfconred (G, F, L, k);