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H mixed-sensitivity synthesis method for robust control loopshaping design


[K,CL,GAM,INFO] = mixsyn(G,W1,W2,W3)
[K,CL,GAM,INFO] = mixsyn(G,W1,W2,W3,KEY1,VALUE1,KEY2,VALUE2,...)


[K,CL,GAM,INFO]=mixsyn(G,W1,W2,W3) computes a controller K that minimizes the H norm of the closed-loop transfer function the weighted mixed sensitivity


where S and T are called the sensitivity and complementary sensitivity, respectively. R measures the control effort, the transfer function from the reference input to the plant input. S, R, and T are given by


The following figure shows the relevant control architecture.

Closed-loop transfer function Ty1u1 for mixed sensitivity mixsyn.

The returned controller K is such that S, R, and T satisfy the following loop-shaping inequalities:

σ¯(S(jω))γ  σ¯(W11(jω))σ¯(R(jω))γ  σ¯(W21(jω))σ¯(T(jω))γ  σ¯(W31(jω))

where γ = GAM. Thus, the inverses of W1 and W3 determine the shapes of sensitivity S and complementary sensitivity T. Typically, you choose a W1 that is large inside the desired control bandwidth to achieve good disturbance attenuation (i.e., performance). Similarly, you typically choose a W3 that is large outside the control bandwidth, which helps to ensure good stability margin (i.e., robustness).

For dimensional compatibility, each of the three weights W1, W2 and W3 must be either empty, scalar (SISO) or have respective input dimensions NY, NU, and NY where G is NY-by-NU. If one of the weights is not needed, you may simply assign an empty matrix []; e.g., P = AUGW(G,W1,[],W3) is SYS but without the second row (without the row containing W2).


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This example shows the use of mixsyn for sensitivity and complementary sensitivity loop shaping.

Create a plant model and weighting functions.

s = zpk('s');
G = (s-1)/(s+1)^2;
W1 = 10*(0.1*s+1)/(100*s+1);
W2 = 0.1*(0.1*s+1)/(0.01*s+1);
W3 = 0.01*(10*s+1)/(0.01*s+1);

[K,CL,GAM] = mixsyn(G,W1,W2,W3);

mixsyn shapes the singular values of the sensitivity function S, the complementary sensitivity function T, and the control effort R = K*S. Examine the results of the synthesis and the shapes of these transfer functions.

S = feedback(1,G*K);
R = K*S;
T = 1-S;


The transfer functions G, W1, W2 and W3 must be proper, i.e., bounded as s → ∞ or, in the discrete-time case, as z → ∞. Additionally, W1, W2 and W3 should be stable. The plant G should be stabilizable and detectable; else, P will not be stabilizable by any K.


[K,CL,GAM,INFO] = mixsyn(G,W1,W2,W3,KEY1,VALUE1,KEY2,VALUE2,...)

is equivalent to

[K,CL,GAM,INFO] = hinfsyn(augw(G,W1,W2,W3),KEY1,VALUE1,KEY2,VALUE2,...)

mixsyn accepts all the same key value pairs as hinfsyn.

See Also


Introduced before R2006a

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