Version 3.4.1 (R2010a) Robust Control Toolbox Software :: Robust Control Toolbox Release Notes (Robust Control Toolbox™)

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Contents

Index

• Getting Started

• Product Overview

Required Software

• 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

• Tradeoff Between Performance and Robustness

Norms and Singular Values

• Typical Loop Shapes, S and T Design

Singular Values

Guaranteed Gain/Phase Margins in MIMO Systems

• Using LOOPSYN to Do H-Infinity Loop Shaping

Example: NASA HiMAT Loop Shaping

Design Specifications

MATLAB Commands for a LOOPSYN Design

• Using MIXSYN for H-Infinity Loop Shaping

Example: NASA HiMAT Design Using MIXSYN

Loop-Shaping Commands

• Introduction

Hankel Singular Values

• Overview of Model Reduction Techniques

Approximating Plant Models - Additive Error Methods

Approximating Plant Models - Multiplicative Error Method

• Using Modal Algorithms

Rigid Body Dynamics

Reducing Large-Scale Models

Using Normalized Coprime Factor Methods

• Uncertainty Modeling

Creating Uncertain Models of Dynamic Systems

Creating Uncertain Parameters

Quantifying Unmodeled Dynamics

Robustness Analysis

• Multiinput, Multioutput Robustness Analysis

Adding Independent Input Uncertainty toEachChannel

Closed-Loop Robustness Analysis

Nominal Stability Margins

Robustness of Stability Model Uncertainty

Worst-Case Gain Analysis

Summary of Robustness Analysis Tools

• Interpretation of H-Infinity Norm

Norms of Signals and Systems

Using Weighted Norms to Characterize Performance

• H-Infinity Performance

Performance as Generalized Disturbance Rejection

Robustness in the H-Infinity Framework

Functions for Control Design

• Application of H-Infinity and Mu to Active Suspension Control

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-Structure Control Systems

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

• Tuning a Control System with looptune

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

• H-Infinity Tuning with hinfstruct

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

• Supported Blocks for Tuning in Simulink

Tuning Unsupported Blocks

• User's Guide

• Release Notes

Summary by Version

Version 4.0 (R2011b) Robust Control Toolbox Software

Version 3.6 (R2011a) Robust Control Toolbox Software

Version 3.5 (R2010b) Robust Control Toolbox Software

Version 3.4.1 (R2010a) Robust Control Toolbox Software

Version 3.4 (R2009b) Robust Control Toolbox Software

Version 3.3.3 (R2009a) Robust Control Toolbox Software

Version 3.3.2 (R2008b) Robust Control Toolbox Software

Version 3.3.1 (R2008a) Robust Control Toolbox Software

Version 3.3 (R2007b) Robust Control Toolbox Software

Version 3.2 (R2007a) Robust Control Toolbox Software

Version 3.1.1 (R2006b) Robust Control Toolbox Software

Version 3.1 (R2006a) Robust Control Toolbox Software

Version 3.0.2 (R14SP3) Robust Control Toolbox Software

Version 3.0.1 (R14SP2) Robust Control Toolbox Software

Compatibility Summary for Robust Control Toolbox Software

Version 3.4.1 (R2010a) Robust Control Toolbox Software

This table summarizes what's new in Version 3.4.1 (R2010a):

New Features and Changes	Version Compatibility Considerations	Fixed Bugs and Known Problems
No	No	Bug Reports Includes fixes

Version 3.5 (R2010b) Robust Control Toolbox Software

Version 3.5 (R2010b) Robust Control Toolbox Software

Version 3.4 (R2009b) Robust Control Toolbox Software

Version 3.4 (R2009b) Robust Control Toolbox Software

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