control.augw

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

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 (ny-by-ny for w1 and) –

  • p (augmented plant; StateSpace object) –

  • None (If a weighting is) –

  • least (no augmentation is done for it. At) –

  • None. (one weighting must not be) –

  • scalar (If a weighting w is) –

  • I*w (it will be replaced by) –

  • is (where I) –

  • w3

  • w2. (and nu-by-nu for) –

Returns

p

Return type

plant augmented with weightings, suitable for submission to hinfsyn or h2syn.

Raises

ValueError

  • if all weightings are None

See also

h2syn, hinfsyn, mixsyn