control.mixsyn¶

control.
mixsyn
(g, w1=None, w2=None, w3=None)¶ Mixedsensitivity Hinfinity synthesis.
mixsyn(g,w1,w2,w3) > k,cl,info
 Parameters
g (LTI; the plant for which controller must be synthesized) –
w1 (weighting on s = (1+g*k)**1; None, or scalar or k1byny LTI) –
w2 (weighting on k*s; None, or scalar or k2bynu LTI) –
w3 (weighting on t = g*k*(1+g*k)**1; None, or scalar or k3byny LTI) –
least one of w1 (At) –
w2 –
w3 must not be None. (and) –
 Returns
k (synthesized controller; StateSpace object)
cl (closed system mapping evaluation inputs to evaluation outputs; if)
p is the augmented plant, with – [z] = [p11 p12] [w], [y] [p21 g] [u]
then cl is the system from w>z with u=k*y. StateSpace object.
info (tuple with entries, in order,) –
gamma: scalar; Hinfinity norm of cl
rcond: array; estimates of reciprocal condition numbers computed during synthesis. See hinfsyn for details
If a weighting w is scalar, it will be replaced by I*w, where I is
nybyny for w1 and w3, and nubynu for w2.