control.augw(g, w1=None, w2=None, w3=None)[source]

Augment plant for mixed sensitivity problem.

If a weighting is None, no augmentation is done for it. At least one weighting must not be None.

If a weighting w is scalar, it will be replaced by I*w, where I is ny-by-ny for w1 and w3, and nu-by-nu for w2.

  • g (LTI object, ny-by-nu) – Plant

  • w1 (None, scalar, or k1-by-ny LTI object) – Weighting on S

  • w2 (None, scalar, or k2-by-nu LTI object) – Weighting on KS

  • w3 (None, scalar, or k3-by-ny LTI object) – Weighting on T


p – Plant augmented with weightings, suitable for submission to hinfsyn or h2syn.

Return type



ValueError – If all weightings are None

See also

h2syn, hinfsyn, mixsyn