control.mixsyn¶
- control.mixsyn(g, w1=None, w2=None, w3=None)[source]¶
Mixed-sensitivity H-infinity synthesis.
mixsyn(g,w1,w2,w3) -> k,cl,info
- Parameters
g (LTI) – The plant for which controller must be synthesized
w1 (None, or scalar or k1-by-ny LTI) – Weighting on S = (1+G*K)**-1
w2 (None, or scalar or k2-by-nu LTI) – Weighting on K*S
w3 (None, or scalar or k3-by-ny LTI) – Weighting on T = G*K*(1+G*K)**-1;
- Returns
k (StateSpace) – Synthesized controller;
cl (StateSpace) – 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.
info (tuple) –
- gamma: scalar
H-infinity 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
ny-by-ny for w1 and w3, and nu-by-nu for w2.