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R2012a Documentation → Robust Control Toolbox
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Contents

Index

• Getting Started

• 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

• 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

Speed Up Tuning with Parallel Computing Toolbox Software

• User's Guide

• Building Uncertain Models

• Generalized Robustness Analysis

Introduction to Generalized Robustness Analysis

Robust Stability Margin

Robust Performance Margin

Worst-Case Gain Measure

• Introduction to Linear Matrix Inequalities

• Analyzing Uncertainty Effects in Simulink

• Release Notes

Generalized Robustness Analysis

Decomposing Uncertain Objects (for Advanced Users)

Decomposing Uncertain Objects (for Advanced Users)

Introduction to Generalized Robustness Analysis

Introduction to Generalized Robustness Analysis

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