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getCompSensitivity

Complementary sensitivity function from generalized model of control system

Syntax

  • T = getCompSensitivity(CL,location) example
  • T = getSensitivity(CL,location,opening) example

Description

example

T = getCompSensitivity(CL,location) returns the complementary sensitivity measured at the specified location for a generalized model of a control system.

example

T = getSensitivity(CL,location,opening) specifies loop openings for the complementary sensitivity function calculation. Use an opening, for example, to calculate the complementary sensitivity function of an inner loop, with the outer loop open.

If opening and location list the same point, the software opens the loop after adding the disturbance signal at the point.

Examples

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Complementary Sensitivity Function at a Location

Compute the complementary sensitivity at the plant output, X.

Create a model of the system by specifying and connecting a numeric LTI plant model G, a tunable controller C, and the loopswitch block X. Use the loopswitch block to mark the location where you assess the complementary sensitivity (plant output in this example).

G = tf([1],[1 5]);
C = ltiblock.pid('C','p');
C.Kp.Value = 3;
X = loopswitch('X');
CL = feedback(G*C,X);

CL is a genss model that represents the closed-loop response of the control system from r to y. The model contains the loopswitch block, X, that identifies the potential loop-opening location.

Calculate the complementary sensitivity, T, at X.

T = getCompSensitivity(CL,'X');
tf(T)
ans =
 
  From input "X" to output "X":
   -3
  -----
  s + 8
 
Continuous-time transfer function.

Specify Additional Loop Opening for Complementary Sensitivity Function Calculation

Calculate the inner-loop sensitivity at the output of G2, with the outer loop open.

Create a model of the system by specifying and connecting the numeric plant models, tunable controllers, and loopswitch blocks. G1 and G2 are plant models, C1 and C2 are tunable controllers, and X1 and X2 are loopswitch blocks that mark potential loop-opening locations.

G1 = tf(10,[1 10]);
G2 = tf([1 2],[1 0.2 10]);
C1 = ltiblock.pid('C','pi');
C2 = ltiblock.gain('G',1);
X1 = loopswitch('X1');
X2 = loopswitch('X2');
CL = feedback(G1*feedback(G2*C2,X2)*C1,X1);

Calculate the complementary sensitivity, T, at X2, with the outer-loop open at X1.

T = getCompSensitivity(CL,'X2','X1');
tf(T)
ans =
 
  From input "X2" to output "X2":
       -s - 2
  ----------------
  s^2 + 1.2 s + 12
 
Continuous-time transfer function.

Input Arguments

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CL — Model of control systemgeneralized state-space model

Model of a control system, specified as a Generalized State-Space Model (genss).

Locations at which you can perform sensitivity analysis or open loops are marked by loopswitch blocks in CL. Use getPoints(CL) to get the list of such locations.

location — Locationstring | cell array of strings

Location at which you calculate the complementary sensitivity function, specified as a string or cell array of strings. To extract the complementary sensitivity function at multiple locations, use a cell array of strings.

Each string in location must match an analysis point in CL. Analysis points are marked using loopswitch blocks. Use getPoints(CL) to get the list of available analysis points in CL.

Example: 'u' or {'u','y'}

opening — Additional loop openingstring | cell array of strings

Additional loop opening used to calculate the complementary sensitivity function, specified as a string or cell array of strings. To open the loop at multiple locations, use a cell array of strings.

Each string in opening must match an analysis point in CL. Analysis points are marked using loopswitch blocks. Use getPoints(CL) to get the list of available analysis points in CL.

Use an opening, for example, to calculate the complementary sensitivity function of an inner loop, with the outer loop open.

If opening and location list the same point, the software opens the loop after adding the disturbance signal at the point.

Example: 'y_outer' or {'y_outer','y_outer2'}

Output Arguments

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T — Complementary sensitivity functiongeneralized state-space model

Complementary sensitivity function of the control system, T, measured at location, returned as a Generalized State-Space Model (genss).

  • If location is a string specifying a single loop opening location, then T is a SISO genss model.

  • If location is a string specifying a vector signal, or a cell array identifying multiple loop opening locations, then T is a MIMO genss model.

More About

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Complementary Sensitivity

The complementary sensitivity function, T, at a point is the closed-loop transfer function around the feedback loop measured at the specified location. It is related to the open-loop transfer function, L, and the sensitivity function, S, at the same point as follows:

Use getLoopTransfer and getSensitivity to compute L and S.

Consider the following model:

The complementary sensitivity, T, at y is defined as the transfer function from dy to y.

Observe that, in contrast to the sensitivity function, the disturbance, dy, is added after the measurement, y.

Here, I is an identity matrix of the same size as GK. The complementary sensitivity transfer function at y is equal to -1 times the closed-loop transfer function from r to y.

Complementary sensitivity at multiple locations, for example, u and y, is defined as the MIMO transfer function from the disturbances to measurements:

See Also

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