control.mixsyn

control.mixsyn(g, w1=None, w2=None, w3=None)

Mixed-sensitivity H-infinity synthesis.

mixsyn(g,w1,w2,w3) -> k,cl,info

Parameters:

gLTI

The plant for which controller must be synthesized.

w1None, or scalar or k1-by-ny LTI

Weighting on S = (1+G*K)**-1.

w2None, or scalar or k2-by-nu LTI

Weighting on K*S.

w3None, or scalar or k3-by-ny LTI

Weighting on T = G*K*(1+G*K)**-1.

Returns:

kStateSpace

Synthesized controller.

clStateSpace

Closed system mapping evaluation inputs to evaluation outputs.

Let p be the augmented plant, with:

[z] = [p11 p12] [w]
[y]   [p21   g] [u]

then cl is the system from w -> z with u = -k*y.

infotuple

Two-tuple (gamma, rcond) containing additional information:

• gamma (scalar): H-infinity norm of cl.

• rcond (array): Estimates of reciprocal condition numbers

  computed during synthesis. See hinfsyn for details.

See also

hinfsyn, augw

Notes

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.