Version 3.4 (R2009b) Robust Control
Toolbox™ Software

This table summarizes what's new in Version 3.4 (R2009b):

New Features and Changes	Version Compatibility Considerations	Fixed Bugs and Known Problems	Related Documentation at Web Site
Yes Details below	Yes Summary	Bug Reports Includes fixes	Printable Release Notes: PDF Current product documentation

New features and changes introduced in this version are described here:

• New Option to Improve Robust Performance by Accounting for Real Uncertain Parameters
• New Command to Linearize Simulink Models with Uncertainty
• New Interface for Simulating Effects of Uncertainty in Simulink Models
• New Command to Model Multiple LTI Responses as One Uncertain System
• New and Updated Demos
• Functions, Properties and Blocks Being Removed

New Option to Improve Robust Performance by Accounting for Real Uncertain Parameters

You can now improve robust performance by accounting for real uncertain parameters when designing controllers using µ-synthesis. The user-defined options you use in the dksyn command now includes a new option MixedMU. Set this option to 'on' to account for real uncertain parameters in your system. For more information, see the dkitopt, and dksyn reference pages.

New Command to Linearize Simulink Models with Uncertainty

If you have Simulink® Control Design™ software installed, you can take model uncertainty into account when linearizing a Simulink model. You can then use the resulting uncertain linearized model (uss object) to perform linear analysis and robust control design.

If your model already contains Uncertain State Space blocks, use the new ulinearize command to obtain an uss model. If you want to account for uncertainty in your linear analysis without using Uncertain State Space blocks, you can specify individual Simulink blocks to linearize to an uncertain variable. For more information, see "Computing Uncertain State-Space Models from Simulink Models" in the Robust Control Toolbox User's Guide.

New Interface for Simulating Effects of Uncertainty in Simulink Models

This version of the product provides a new interface to simulate the effects of uncertainty in Simulink® models. The interface includes the following:

• Uncertain State Space block to specify uncertain system in Simulink. You should replace USS System blocks in your existing models with the Uncertain State Space block. To do so, run the slupdate command on your models.
• ufind command to extract all uncertain variables from a Simulink model.
• usample command to generate random values of these uncertain variables.

For more information on simulating the effects of uncertainty using the new interface, see "Simulating Effects of Uncertainty" in the Robust Control Toolbox User's Guide.

New Command to Model Multiple LTI Responses as One Uncertain System

This version of the product includes a new ucover command that lets you model a family of LTI responses as one uncertain system. For more information, see the ucover reference page.

New and Updated Demos

The following new and updated demos illustrate use of the new features:

• Control of Spring-Mass-Damper Using Mixed mu-Synthesis shows use of the new MixedMU option and dksyn command for mixed-mu synthesis.
• Linearization of Simulink Models with Uncertainty shows how to compute uncertain state-space models using ulinearize and Simulink Control Design software.
• Robustness Analysis in Simulink uses the new interface for simulating effects of uncertainty in Simulink models.
• Simultaneous Stabilization Using Robust Control and Modeling a Family of Responses as an Uncertain System show use of the ucover command.
• First-Cut Robust Design shows use of the usample, ucover and dksyn commands.

To access the demos, type

demo('toolbox','robust control')

Functions, Properties and Blocks Being Removed

For more information about the process of removing functions, see About Functions and Properties Being Removed in What's in the Release Notes.

Function, Property or Block Name	What Happens When You Use Function or Property?	Use This Instead	Compatibility Considerations
usiminfo	Still runs	ufind	See New Interface for Simulating Effects of Uncertainty in Simulink Models.
usimfill	Still runs	ufind	See New Interface for Simulating Effects of Uncertainty in Simulink Models.
usimsamp	Still runs	usample	See New Interface for Simulating Effects of Uncertainty in Simulink Models.
USS System block	Still runs	Uncertain State Space block	See New Interface for Simulating Effects of Uncertainty in Simulink Models.
ltiarray2uss	Still runs	ucover	See New Command to Model Multiple LTI Responses as One Uncertain System.

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Summary by Version

Version 3.3.3 (R2009a) Robust Control Toolbox™ Software

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