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