X-Git-Url: https://git.creatis.insa-lyon.fr/pubgit/?a=blobdiff_plain;f=octave_packages%2Fcontrol-2.3.52%2Fh2syn.m;fp=octave_packages%2Fcontrol-2.3.52%2Fh2syn.m;h=9850f48aa7603902b16a8adfbffa8439e497fc8d;hb=f5f7a74bd8a4900f0b797da6783be80e11a68d86;hp=0000000000000000000000000000000000000000;hpb=1705066eceaaea976f010f669ce8e972f3734b05;p=CreaPhase.git
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+## Copyright (C) 2009 Lukas F. Reichlin
+##
+## This file is part of LTI Syncope.
+##
+## LTI Syncope is free software: you can redistribute it and/or modify
+## it under the terms of the GNU General Public License as published by
+## the Free Software Foundation, either version 3 of the License, or
+## (at your option) any later version.
+##
+## LTI Syncope 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 General Public License for more details.
+##
+## You should have received a copy of the GNU General Public License
+## along with LTI Syncope. If not, see .
+
+## -*- texinfo -*-
+## @deftypefn{Function File} {[@var{K}, @var{N}, @var{gamma}, @var{rcond}] =} h2syn (@var{P}, @var{nmeas}, @var{ncon})
+## H-2 control synthesis for LTI plant.
+##
+## @strong{Inputs}
+## @table @var
+## @item P
+## Generalized plant. Must be a proper/realizable LTI model.
+## @item nmeas
+## Number of measured outputs v. The last @var{nmeas} outputs of @var{P} are connected to the
+## inputs of controller @var{K}. The remaining outputs z (indices 1 to p-nmeas) are used
+## to calculate the H-2 norm.
+## @item ncon
+## Number of controlled inputs u. The last @var{ncon} inputs of @var{P} are connected to the
+## outputs of controller @var{K}. The remaining inputs w (indices 1 to m-ncon) are excited
+## by a harmonic test signal.
+## @end table
+##
+## @strong{Outputs}
+## @table @var
+## @item K
+## State-space model of the H-2 optimal controller.
+## @item N
+## State-space model of the lower LFT of @var{P} and @var{K}.
+## @item gamma
+## H-2 norm of @var{N}.
+## @item rcond
+## Vector @var{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 @var{K}. For details,
+## see the description of the corresponding SLICOT algorithm.
+## @end table
+##
+## @strong{Block Diagram}
+## @example
+## @group
+##
+## gamma = min||N(K)|| N = lft (P, K)
+## K 2
+##
+## +--------+
+## w ----->| |-----> z
+## | P(s) |
+## u +---->| |-----+ v
+## | +--------+ |
+## | |
+## | +--------+ |
+## +-----| K(s) |<----+
+## +--------+
+##
+## +--------+
+## w ----->| N(s) |-----> z
+## +--------+
+## @end group
+## @end example
+##
+## @strong{Algorithm}@*
+## Uses SLICOT SB10HD and SB10ED by courtesy of
+## @uref{http://www.slicot.org, NICONET e.V.}
+##
+## @seealso{augw, lqr, dlqr, kalman}
+## @end deftypefn
+
+## Author: Lukas Reichlin
+## Created: December 2009
+## Version: 0.1
+
+function [K, varargout] = h2syn (P, nmeas, ncon)
+
+ ## check input arguments
+ if (nargin != 3)
+ print_usage ();
+ endif
+
+ if (! isa (P, "lti"))
+ error ("h2syn: first argument must be an LTI system");
+ endif
+
+ if (! is_real_scalar (nmeas))
+ error ("h2syn: second argument invalid");
+ endif
+
+ if (! is_real_scalar (ncon))
+ error ("h2syn: third argument invalid");
+ endif
+
+ [a, b, c, d, tsam] = ssdata (P);
+
+ ## check assumptions A1 - A3
+ m = columns (b);
+ p = rows (c);
+
+ m1 = m - ncon;
+ p1 = p - nmeas;
+
+ d11 = d(1:p1, 1:m1);
+
+ if (isct (P) && any (d11(:)))
+ warning ("h2syn: setting matrice D11 to zero");
+ d(1:p1, 1:m1) = 0;
+ endif
+
+ if (! isstabilizable (P(:, m1+1:m)))
+ error ("h2syn: (A, B2) must be stabilizable");
+ endif
+
+ if (! isdetectable (P(p1+1:p, :)))
+ error ("h2syn: (C2, A) must be detectable");
+ endif
+
+ ## H-2 synthesis
+ if (isct (P)) # continuous plant
+ [ak, bk, ck, dk, rcond] = slsb10hd (a, b, c, d, ncon, nmeas);
+ else # discrete plant
+ [ak, bk, ck, dk, rcond] = slsb10ed (a, b, c, d, ncon, nmeas);
+ endif
+
+ ## controller
+ K = ss (ak, bk, ck, dk, tsam);
+
+ if (nargout > 1)
+ N = lft (P, K);
+ varargout{1} = N;
+ if (nargout > 2)
+ varargout{2} = norm (N, 2);
+ if (nargout > 3)
+ varargout{3} = rcond;
+ endif
+ endif
+ endif
+
+endfunction
+
+
+## continuous-time case
+%!shared M, M_exp
+%! A = [-1.0 0.0 4.0 5.0 -3.0 -2.0
+%! -2.0 4.0 -7.0 -2.0 0.0 3.0
+%! -6.0 9.0 -5.0 0.0 2.0 -1.0
+%! -8.0 4.0 7.0 -1.0 -3.0 0.0
+%! 2.0 5.0 8.0 -9.0 1.0 -4.0
+%! 3.0 -5.0 8.0 0.0 2.0 -6.0];
+%!
+%! B = [-3.0 -4.0 -2.0 1.0 0.0
+%! 2.0 0.0 1.0 -5.0 2.0
+%! -5.0 -7.0 0.0 7.0 -2.0
+%! 4.0 -6.0 1.0 1.0 -2.0
+%! -3.0 9.0 -8.0 0.0 5.0
+%! 1.0 -2.0 3.0 -6.0 -2.0];
+%!
+%! C = [ 1.0 -1.0 2.0 -4.0 0.0 -3.0
+%! -3.0 0.0 5.0 -1.0 1.0 1.0
+%! -7.0 5.0 0.0 -8.0 2.0 -2.0
+%! 9.0 -3.0 4.0 0.0 3.0 7.0
+%! 0.0 1.0 -2.0 1.0 -6.0 -2.0];
+%!
+%! D = [ 0.0 0.0 0.0 -4.0 -1.0
+%! 0.0 0.0 0.0 1.0 0.0
+%! 0.0 0.0 0.0 0.0 1.0
+%! 3.0 1.0 0.0 1.0 -3.0
+%! -2.0 0.0 1.0 7.0 1.0];
+%!
+%! P = ss (A, B, C, D);
+%! K = h2syn (P, 2, 2);
+%! M = [K.A, K.B; K.C, K.D];
+%!
+%! KA = [ 88.0015 -145.7298 -46.2424 82.2168 -45.2996 -31.1407
+%! 25.7489 -31.4642 -12.4198 9.4625 -3.5182 2.7056
+%! 54.3008 -102.4013 -41.4968 50.8412 -20.1286 -26.7191
+%! 108.1006 -198.0785 -45.4333 70.3962 -25.8591 -37.2741
+%! -115.8900 226.1843 47.2549 -47.8435 -12.5004 34.7474
+%! 59.0362 -101.8471 -20.1052 36.7834 -16.1063 -26.4309];
+%!
+%! KB = [ 3.7345 3.4758
+%! -0.3020 0.6530
+%! 3.4735 4.0499
+%! 4.3198 7.2755
+%! -3.9424 -10.5942
+%! 2.1784 2.5048];
+%!
+%! KC = [ -2.3346 3.2556 0.7150 -0.9724 0.6962 0.4074
+%! 7.6899 -8.4558 -2.9642 7.0365 -4.2844 0.1390];
+%!
+%! KD = [ 0.0000 0.0000
+%! 0.0000 0.0000];
+%!
+%! M_exp = [KA, KB; KC, KD];
+%!
+%!assert (M, M_exp, 1e-4);
+
+
+## discrete-time case
+%!shared M, M_exp
+%! A = [-0.7 0.0 0.3 0.0 -0.5 -0.1
+%! -0.6 0.2 -0.4 -0.3 0.0 0.0
+%! -0.5 0.7 -0.1 0.0 0.0 -0.8
+%! -0.7 0.0 0.0 -0.5 -1.0 0.0
+%! 0.0 0.3 0.6 -0.9 0.1 -0.4
+%! 0.5 -0.8 0.0 0.0 0.2 -0.9];
+%!
+%! B = [-1.0 -2.0 -2.0 1.0 0.0
+%! 1.0 0.0 1.0 -2.0 1.0
+%! -3.0 -4.0 0.0 2.0 -2.0
+%! 1.0 -2.0 1.0 0.0 -1.0
+%! 0.0 1.0 -2.0 0.0 3.0
+%! 1.0 0.0 3.0 -1.0 -2.0];
+%!
+%! C = [ 1.0 -1.0 2.0 -2.0 0.0 -3.0
+%! -3.0 0.0 1.0 -1.0 1.0 0.0
+%! 0.0 2.0 0.0 -4.0 0.0 -2.0
+%! 1.0 -3.0 0.0 0.0 3.0 1.0
+%! 0.0 1.0 -2.0 1.0 0.0 -2.0];
+%!
+%! D = [ 1.0 -1.0 -2.0 0.0 0.0
+%! 0.0 1.0 0.0 1.0 0.0
+%! 2.0 -1.0 -3.0 0.0 1.0
+%! 0.0 1.0 0.0 1.0 -1.0
+%! 0.0 0.0 1.0 2.0 1.0];
+%!
+%! P = ss (A, B, C, D, 1); # value of sampling time doesn't matter
+%! K = h2syn (P, 2, 2);
+%! M = [K.A, K.B; K.C, K.D];
+%!
+%! KA = [-0.0551 -2.1891 -0.6607 -0.2532 0.6674 -1.0044
+%! -1.0379 2.3804 0.5031 0.3960 -0.6605 1.2673
+%! -0.0876 -2.1320 -0.4701 -1.1461 1.2927 -1.5116
+%! -0.1358 -2.1237 -0.9560 -0.7144 0.6673 -0.7957
+%! 0.4900 0.0895 0.2634 -0.2354 0.1623 -0.2663
+%! 0.1672 -0.4163 0.2871 -0.1983 0.4944 -0.6967];
+%!
+%! KB = [-0.5985 -0.5464
+%! 0.5285 0.6087
+%! -0.7600 -0.4472
+%! -0.7288 -0.6090
+%! 0.0532 0.0658
+%! -0.0663 0.0059];
+%!
+%! KC = [ 0.2500 -1.0200 -0.3371 -0.2733 0.2747 -0.4444
+%! 0.0654 0.2095 0.0632 0.2089 -0.1895 0.1834];
+%!
+%! KD = [-0.2181 -0.2070
+%! 0.1094 0.1159];
+%!
+%! M_exp = [KA, KB; KC, KD];
+%!
+%!assert (M, M_exp, 1e-4);
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