Extends Control System Toolbox Capabilities :: Introduction (Robust Control Toolbox™)

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Contents

Index

• Getting Started

• Introduction

• Product Description

Product Requirements

• Modeling Uncertainty

Example: ACC Benchmark Problem

• Worst-Case Performance

Example: ACC Two-Cart Benchmark Problem

• Synthesis of Robust MIMO Controllers

Example: Designing a Controller with LOOPSYN

• Model Reduction and Approximation

Example: NASA HiMAT Controller Order Reduction

Extends Control System Toolbox Capabilities

About the Authors

• Multivariable Loop Shaping

Norms and Singular Values

Singular Values

Guaranteed Gain/Phase Margins in MIMO Systems

Example: NASA HiMAT Loop Shaping

Design Specifications

MATLAB Commands for a LOOPSYN Design

Example: NASA HiMAT Design Using MIXSYN

• Model Reduction for Robust Control

Hankel Singular Values

Rigid Body Dynamics

• Robustness Analysis

Creating Uncertain Models of Dynamic Systems

Creating Uncertain Parameters

Quantifying Unmodeled Dynamics

Adding Independent Input Uncertainty toEachChannel

Closed-Loop Robustness Analysis

Nominal Stability Margins

Robustness of Stability Model Uncertainty

• H-Infinity and Mu Synthesis

Norms of Signals and Systems

Using Weighted Norms to Characterize Performance

Performance as Generalized Disturbance Rejection

Robustness in the H-Infinity Framework

Quarter Car Suspension Model

Linear H-Infinity Controller Design

H-Infinity Control Design 1

H-Infinity Control Design 2

Control Design via Mu Synthesis

• Tuning Fixed Control Architectures

What is a Fixed-Structure Control System?

Choosing an Approach to Fixed Control Structure Tuning

Difference Between Fixed-Structure Tuning and Traditional H-Infinity Synthesis

How looptune Sees Your Control System

Setting Up Your Control System in MATLAB

Setting Up Your Control System in Simulink

Performance and Robustness Specifications

Tune a MIMO Control System for a Specified Bandwidth

Tune a Two-Loop Control System to Meet Specific Design Requirements

Tune a MIMO Control System in Simulink

What is hinfstruct?

Structured H-Infinity Synthesis Workflow

Formulating Design Requirements as H-Infinity Constraints

Building a Tunable Closed-Loop Model

Tuning the Controller Parameters

Interpreting the Outputs of hinfstruct

Validating the Controller Design

Application Examples

Tuning Unsupported Blocks

• User's Guide

• Release Notes

Extends Control System Toolbox Capabilities

Robust Control Toolbox software is designed to work with Control System Toolbox software. Robust Control Toolbox software extends the capabilities of Control System Toolbox software and leverages the LTI and plotting capabilities of Control System Toolbox software. The major analysis and synthesis commands in Robust Control Toolbox software accept LTI object inputs, e.g., LTI state-space systems produced by commands such as:

G=tf(1,[1 2 3])
G=ss([-1 0; 0 -1], [1;1],[1 1],3)

The uncertain system (USS) objects in Robust Control Toolbox software generalize the Control System Toolbox LTI SS objects and help ease the task of analyzing and plotting uncertain systems. You can do many of the same algebraic operations on uncertain systems that are possible for LTI objects (multiply, add, invert), and Robust Control Toolbox software provides USS uncertain system extensions of Control System Toolbox software interconnection and plotting functions like feedback, lft, and bode.

LMI Solvers

About the Authors

About the Authors

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