control.augw¶
-
control.augw(g, w1=None, w2=None, w3=None)¶ Augment plant for mixed sensitivity problem.
- Parameters
g (LTI object, ny-by-nu) –
w1 (weighting on S; None, scalar, or k1-by-ny LTI object) –
w2 (weighting on KS; None, scalar, or k2-by-nu LTI object) –
w3 (weighting on T; None, scalar, or k3-by-ny LTI object) –
p (augmented plant; StateSpace object) –
a weighting is None (If) –
augmentation is done for it. At least (no) –
weighting must not be None. (one) –
a weighting w is scalar (If) –
will be replaced by I*w (it) –
I is (where) –
for w1 and w3 (ny-by-ny) –
nu-by-nu for w2. (and) –
- Returns
p
- Return type
plant augmented with weightings, suitable for submission to hinfsyn or h2syn.
- Raises
ValueError –
if all weightings are None