cpmargin

Coprime stability margin of plant-controller feedback loop

Syntax

[MARG,FREQ] = cpmargin(P,C)
[MARG,FREQ] = cpmargin(P,C,TOL)

Description

[MARG,FREQ] = cpmargin(P,C) calculates the normalized coprime factor/gap metric robust stability of the multivariable feedback loop consisting of C in negative feedback with P. C should only be the compensator in the feedback path, not any reference channels, if it is a two degree-of-freedom (2-Dof) architecture. The output MARG contains upper and lower bound for the normalized coprime factor/gap metric robust stability margin. FREQ is the frequency associated with the upper bound.

[MARG,FREQ] = cpmargin(P,C,TOL) specifies a relative accuracy TOL for calculating the normalized coprime factor/gap metric robust stability margin. (TOL=1e-3 by default).

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