% ABOUT MUSYNDEMO3: % % This demo provides a MIMO closed loop control system designed % by using Mu-Tools. Use the pulldown menus to run % the simulation. Double-click the blocks on the bottom for % more functions. % % All of the parameters are read in from MATLAB workspace % variables. The plant model is [a,b,c,d]. The input and output % weighting functions are: % [ wi1(s) 0 ] [wo1(s) 0 ] respectively, where: % [ 0 wi2(s)]; [ 0 wo2(s)] % % num_i1(s) num_i2(s) % w1(s) = ----------; wi2(s) = ----------. % den_i1(s) den_i2(s) % % The designed controller is given by [ak,bk,ck,dk]. During the % simulation system perturbation and measurement noise are added. % % By changing the plant and the weighting function parameters, you % can convert the example to solve a problem of your own. % % Re-Load Data % Re-load data from file. This refreshes the data in the workspace. % % Re-Design % After changing the workspace parameters, you should redesign the % controller to fit your data. % % The following functions in MuSyn are used: % sysic --- system interconnection % hinfsyn --- H_infinity controller design % mu --- Mu analysis % musynfit --- curve fitting % mmult --- system multiplication % % Two SISO examples are given in musyndm1 and musyndm2. % % Copyright 1991-2004 MUSYN Inc. and The MathWorks, Inc. % $Revision: 1.1.8.1 $ % Data file of mu-synthesis demo1 for SIMULINK % [a b c d] for plant % [ak bk ck dk] for controller % [num den] for weighting % g1 and k1 are closed loop system and controller system matrix % disp('Loading data'); a = [ -2.2600e-02 -3.6600e+01 -1.8900e+01 -3.2100e+01 0 -1.9000e+00 9.8300e-01 0 1.2300e-02 -1.1700e+01 -2.6300e+00 0 0 0 1.0000e+00 0]; b = [ 0 0 -4.1400e-01 0 -7.7800e+01 2.2400e+01 0 0 ]; c = [ 0 5.7300e+01 0 0 0 0 0 5.7300e+01]; d =[ 0 0 0 0]; tmp1 = [ -3.4099e-02 -2.0067e-03 6.5488e-02 1.0555e-01 -6.0522e-01 -6.2559e-02 -2.1085e-04 -3.2805e-02 4.0256e+00 5.7643e-01 1.7385e+00 -2.2096e+00 -1.8617e+00 3.3129e+00 -7.9847e+02 -6.9086e+02 -6.7781e+02 8.2340e+02 -3.1998e-01 -4.6007e-01 6.2912e+02 -1.0313e+01 -5.4126e+01 8.5207e+01 -4.2821e-01 -1.8486e+00 5.6614e+02 -5.5724e+01 -7.0614e+02 1.1138e+03 -6.0960e-01 2.0714e+00 -8.2062e+02 2.4577e+01 5.0003e+02 -1.2733e+03 9.1619e-01 -1.6138e+00 7.1983e+02 -3.6653e+00 -2.1145e+02 9.6092e+02 -8.8412e-02 4.1243e-01 -1.4845e+02 7.4513e+00 1.7903e+02 -3.2784e+02 1.0721e+00 6.9571e-02 1.8718e+02 3.9738e+01 4.5878e+02 1.7535e+02 -2.1040e-02 1.3837e-02 -8.2479e+00 -3.4761e-01 2.5982e+00 -2.0069e+01 -2.1530e-01 1.8773e-01 -9.8204e+01 -2.2321e+00 6.2793e+01 -2.5723e+02 -7.0102e-02 1.6186e-01 -6.2015e+01 2.2087e+00 9.6096e+01 -1.9839e+02 1.9801e-02 -6.6496e-02 2.3744e+01 -1.2195e+00 -4.2862e+01 7.8919e+01 7.6094e-03 5.6376e-03 -2.5531e-01 4.2300e-01 6.0548e+00 -3.0430e+00 1.8129e-04 -1.5759e-02 4.7424e+00 -4.5095e-01 -1.1708e+01 1.7913e+01 1.8032e-01 1.4912e-01 -1.1045e+01 1.0394e+01 1.5033e+02 -7.6898e+01 ]; tmp2=[ 2.4468e-01 6.3801e-02 -4.6503e-01 -4.8630e-04 -4.3850e-02 -3.2760e-02 1.9488e+00 -4.1852e-01 1.1023e+00 -2.8463e-02 -3.1498e-01 -1.8073e-01 -7.1107e+02 1.5082e+02 -3.9103e+02 9.6884e+00 1.0580e+02 5.9906e+01 -7.9500e+01 1.5993e+01 -4.4135e+01 1.1811e+00 1.3224e+01 7.5714e+00 -1.1103e+03 2.4038e+02 -1.0253e+03 1.9467e+01 1.9670e+02 1.0886e+02 1.4190e+03 -3.0711e+02 1.2665e+03 -2.9841e+01 -3.2704e+02 -1.9684e+02 -1.1618e+03 2.9805e+02 -1.1119e+03 2.8699e+01 3.2322e+02 2.0169e+02 2.9190e+02 -8.8827e+01 5.4230e+02 -1.0041e+01 -1.0304e+02 -6.1443e+01 -5.2963e+02 -9.6507e+01 -2.0285e+03 6.2428e+01 5.9450e+02 4.4464e+02 2.4782e+01 -4.9728e+00 2.2657e+01 -1.1861e+00 -1.3195e+01 -1.1612e+01 2.9858e+02 -7.2140e+01 3.0429e+02 -1.3979e+01 -1.5867e+02 -1.3505e+02 2.0002e+02 -6.5942e+01 7.1136e+01 -7.6095e+00 -9.9935e+01 -1.0988e+02 -7.6576e+01 2.7383e+01 -3.2169e+01 2.9940e+00 3.8594e+01 1.1352e+02 2.3143e-02 -1.5941e+00 -2.5440e+01 2.4234e-01 1.4531e+00 -8.7931e+00 -1.6179e+01 6.6496e+00 -3.3317e+00 7.7092e-01 1.0763e+01 1.9950e+01 1.0431e+00 -3.6913e+01 -6.9221e+02 9.4368e+00 8.5960e+01 -2.2965e+01 ]; tmp3=[ 3.6580e-02 2.2193e-03 1.1129e-02 -2.0999e-01 5.8465e-02 1.0122e-02 -8.5159e-03 -7.8677e-02 -1.8463e+01 -3.3117e+00 3.2439e+00 1.8809e+01 -2.5840e+00 -4.3134e-01 2.9149e-01 4.3608e+00 -2.4780e+01 -6.4904e+00 1.0396e+01 -2.4999e+01 6.2814e+01 1.2108e+01 -1.0411e+01 -9.2767e+01 -6.8809e+01 -1.2466e+01 8.6744e+00 1.2916e+02 1.6466e+01 4.0887e+00 -4.9306e+00 -1.0201e+01 -9.5010e+01 -2.1150e+01 4.5003e+01 -1.0128e+02 3.5439e+00 7.9244e-01 -8.1123e-01 -6.8289e+00 4.5377e+01 1.0021e+01 -8.0372e+00 -1.1419e+02 -3.0613e+01 1.6541e+01 -1.2100e+01 -1.3955e+02 -1.7357e+01 -6.8889e+00 1.6736e+00 9.6150e+01 4.4737e+00 -7.5359e-01 2.7919e-01 3.1757e+01 -7.7540e+00 1.0249e+00 -3.4293e+00 5.1969e+01 1.9289e+01 -4.5934e+01 3.1770e+01 -1.5810e+03]; ak=[tmp1,tmp2,tmp3]; bk = [ -8.5071e-01 4.3457e-01 3.3895e-01 7.1398e-01 -4.6381e+01 -3.3782e+01 -1.9301e+00 5.6540e+00 4.1636e+00 2.1823e+01 -1.8753e+01 -1.7902e+01 2.0240e+01 1.1280e+01 -3.3365e+00 -3.8305e+00 1.3131e+01 -7.2473e+00 -3.4143e-01 -2.0461e-02 -3.7483e+00 -7.0358e-01 -1.7732e+00 -1.3110e+00 6.1523e-01 5.9291e-01 6.5383e-02 -1.0636e-01 8.8769e-02 1.6806e-01 1.4648e+00 -2.6835e+00]; tmp1 = [ -3.4706e-01 7.2483e-01 -5.4507e+01 -5.1763e+00 -2.2208e+01 2.3755e+01 -8.9001e-01 -3.1507e-01 1.7927e+01 2.9831e+00 -6.0757e-01 -1.0385e+01 ]; tmp2 = [ -1.9992e+01 4.9810e+00 -1.4959e+01 3.1571e-01 3.2783e+00 1.8419e+00 1.1712e+01 -9.9753e-01 -1.0916e+00 -1.3159e-01 -1.9487e+00 -1.2125e+00 ]; tmp3 = [ -4.5040e-01 -1.0131e-01 1.5793e-01 -2.9013e-01 7.2607e-01 7.2962e-02 1.0574e-01 -3.0434e+00]; ck = [tmp1, tmp2, tmp3]; dk =[0 0 0 0]; num_i1 = [ 50 5000]; den_i1 = [ 1 10000]; num_i2 = [ 50 5000]; den_i2 = [ 1 10000]; num_o1 = [ 5.0000e-01 1.5000e+00]; den_o1 = [ 1.0000e+00 3.0000e-02]; num_o2 = [ 5.0000e-01 1.5000e+00]; den_o2 = [ 1.0000e+00 3.0000e-02]; tmp1 = [ -3.4099e-02 -2.0067e-03 6.5488e-02 1.0555e-01 -6.0522e-01 -6.2559e-02 -2.1085e-04 -3.2805e-02 4.0256e+00 5.7643e-01 1.7385e+00 -2.2096e+00 -1.8617e+00 3.3129e+00 -7.9847e+02 -6.9086e+02 -6.7781e+02 8.2340e+02 -3.1998e-01 -4.6007e-01 6.2912e+02 -1.0313e+01 -5.4126e+01 8.5207e+01 -4.2821e-01 -1.8486e+00 5.6614e+02 -5.5724e+01 -7.0614e+02 1.1138e+03 -6.0960e-01 2.0714e+00 -8.2062e+02 2.4577e+01 5.0003e+02 -1.2733e+03 9.1619e-01 -1.6138e+00 7.1983e+02 -3.6653e+00 -2.1145e+02 9.6092e+02 -8.8412e-02 4.1243e-01 -1.4845e+02 7.4513e+00 1.7903e+02 -3.2784e+02 1.0721e+00 6.9571e-02 1.8718e+02 3.9738e+01 4.5878e+02 1.7535e+02 -2.1040e-02 1.3837e-02 -8.2479e+00 -3.4761e-01 2.5982e+00 -2.0069e+01 -2.1530e-01 1.8773e-01 -9.8204e+01 -2.2321e+00 6.2793e+01 -2.5723e+02 -7.0102e-02 1.6186e-01 -6.2015e+01 2.2087e+00 9.6096e+01 -1.9839e+02 1.9801e-02 -6.6496e-02 2.3744e+01 -1.2195e+00 -4.2862e+01 7.8919e+01 7.6094e-03 5.6376e-03 -2.5531e-01 4.2300e-01 6.0548e+00 -3.0430e+00 1.8129e-04 -1.5759e-02 4.7424e+00 -4.5095e-01 -1.1708e+01 1.7913e+01 1.8032e-01 1.4912e-01 -1.1045e+01 1.0394e+01 1.5033e+02 -7.6898e+01 -3.4706e-01 7.2483e-01 -5.4507e+01 -5.1763e+00 -2.2208e+01 2.3755e+01 -8.9001e-01 -3.1507e-01 1.7927e+01 2.9831e+00 -6.0757e-01 -1.0385e+01 0 0 0 0 0 0 ]; tmp2 = [ 2.4468e-01 6.3801e-02 -4.6503e-01 -4.8630e-04 -4.3850e-02 -3.2760e-02 1.9488e+00 -4.1852e-01 1.1023e+00 -2.8463e-02 -3.1498e-01 -1.8073e-01 -7.1107e+02 1.5082e+02 -3.9103e+02 9.6884e+00 1.0580e+02 5.9906e+01 -7.9500e+01 1.5993e+01 -4.4135e+01 1.1811e+00 1.3224e+01 7.5714e+00 -1.1103e+03 2.4038e+02 -1.0253e+03 1.9467e+01 1.9670e+02 1.0886e+02 1.4190e+03 -3.0711e+02 1.2665e+03 -2.9841e+01 -3.2704e+02 -1.9684e+02 -1.1618e+03 2.9805e+02 -1.1119e+03 2.8699e+01 3.2322e+02 2.0169e+02 2.9190e+02 -8.8827e+01 5.4230e+02 -1.0041e+01 -1.0304e+02 -6.1443e+01 -5.2963e+02 -9.6507e+01 -2.0285e+03 6.2428e+01 5.9450e+02 4.4464e+02 2.4782e+01 -4.9728e+00 2.2657e+01 -1.1861e+00 -1.3195e+01 -1.1612e+01 2.9858e+02 -7.2140e+01 3.0429e+02 -1.3979e+01 -1.5867e+02 -1.3505e+02 2.0002e+02 -6.5942e+01 7.1136e+01 -7.6095e+00 -9.9935e+01 -1.0988e+02 -7.6576e+01 2.7383e+01 -3.2169e+01 2.9940e+00 3.8594e+01 1.1352e+02 2.3143e-02 -1.5941e+00 -2.5440e+01 2.4234e-01 1.4531e+00 -8.7931e+00 -1.6179e+01 6.6496e+00 -3.3317e+00 7.7092e-01 1.0763e+01 1.9950e+01 1.0431e+00 -3.6913e+01 -6.9221e+02 9.4368e+00 8.5960e+01 -2.2965e+01 -1.9992e+01 4.9810e+00 -1.4959e+01 3.1571e-01 3.2783e+00 1.8419e+00 1.1712e+01 -9.9753e-01 -1.0916e+00 -1.3159e-01 -1.9487e+00 -1.2125e+00 0 0 0 0 0 0 ]; tmp3 = [ 3.6580e-02 2.2193e-03 1.1129e-02 -2.0999e-01 -8.5071e-01 4.3457e-01 5.8465e-02 1.0122e-02 -8.5159e-03 -7.8677e-02 3.3895e-01 7.1398e-01 -1.8463e+01 -3.3117e+00 3.2439e+00 1.8809e+01 -4.6381e+01 -3.3782e+01 -2.5840e+00 -4.3134e-01 2.9149e-01 4.3608e+00 -1.9301e+00 5.6540e+00 -2.4780e+01 -6.4904e+00 1.0396e+01 -2.4999e+01 4.1636e+00 2.1823e+01 6.2814e+01 1.2108e+01 -1.0411e+01 -9.2767e+01 -1.8753e+01 -1.7902e+01 -6.8809e+01 -1.2466e+01 8.6744e+00 1.2916e+02 2.0240e+01 1.1280e+01 1.6466e+01 4.0887e+00 -4.9306e+00 -1.0201e+01 -3.3365e+00 -3.8305e+00 -9.5010e+01 -2.1150e+01 4.5003e+01 -1.0128e+02 1.3131e+01 -7.2473e+00 3.5439e+00 7.9244e-01 -8.1123e-01 -6.8289e+00 -3.4143e-01 -2.0461e-02 4.5377e+01 1.0021e+01 -8.0372e+00 -1.1419e+02 -3.7483e+00 -7.0358e-01 -3.0613e+01 1.6541e+01 -1.2100e+01 -1.3955e+02 -1.7732e+00 -1.3110e+00 -1.7357e+01 -6.8889e+00 1.6736e+00 9.6150e+01 6.1523e-01 5.9291e-01 4.4737e+00 -7.5359e-01 2.7919e-01 3.1757e+01 6.5383e-02 -1.0636e-01 -7.7540e+00 1.0249e+00 -3.4293e+00 5.1969e+01 8.8769e-02 1.6806e-01 1.9289e+01 -4.5934e+01 3.1770e+01 -1.5810e+03 1.4648e+00 -2.6835e+00 -4.5040e-01 -1.0131e-01 1.5793e-01 -2.9013e-01 0 0 7.2607e-01 7.2962e-02 1.0574e-01 -3.0434e+00 0 0 0 0 0 0 0 0 ]; k1 = [ 1.6000e+01 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 -Inf]; k1 = [tmp1, tmp2, tmp3, k1]; tmp1 = [ -3.4099e-02 -2.0067e-03 6.5488e-02 1.0555e-01 -6.0522e-01 -6.2559e-02 -2.1085e-04 -3.2805e-02 4.0256e+00 5.7643e-01 1.7385e+00 -2.2096e+00 -1.8617e+00 3.3129e+00 -7.9847e+02 -6.9086e+02 -6.7781e+02 8.2340e+02 -3.1998e-01 -4.6007e-01 6.2912e+02 -1.0313e+01 -5.4126e+01 8.5207e+01 -4.2821e-01 -1.8486e+00 5.6614e+02 -5.5724e+01 -7.0614e+02 1.1138e+03 -6.0960e-01 2.0714e+00 -8.2062e+02 2.4577e+01 5.0003e+02 -1.2733e+03 9.1619e-01 -1.6138e+00 7.1983e+02 -3.6653e+00 -2.1145e+02 9.6092e+02 -8.8412e-02 4.1243e-01 -1.4845e+02 7.4513e+00 1.7903e+02 -3.2784e+02 1.0721e+00 6.9571e-02 1.8718e+02 3.9738e+01 4.5878e+02 1.7535e+02 -2.1040e-02 1.3837e-02 -8.2479e+00 -3.4761e-01 2.5982e+00 -2.0069e+01 -2.1530e-01 1.8773e-01 -9.8204e+01 -2.2321e+00 6.2793e+01 -2.5723e+02 -7.0102e-02 1.6186e-01 -6.2015e+01 2.2087e+00 9.6096e+01 -1.9839e+02 1.9801e-02 -6.6496e-02 2.3744e+01 -1.2195e+00 -4.2862e+01 7.8919e+01 7.6094e-03 5.6376e-03 -2.5531e-01 4.2300e-01 6.0548e+00 -3.0430e+00 1.8129e-04 -1.5759e-02 4.7424e+00 -4.5095e-01 -1.1708e+01 1.7913e+01 1.8032e-01 1.4912e-01 -1.1045e+01 1.0394e+01 1.5033e+02 -7.6898e+01 0 0 0 0 0 0 1.4368e-01 -3.0008e-01 2.2566e+01 2.1430e+00 9.1940e+00 -9.8346e+00 7.0648e+00 -6.3450e+01 4.6422e+03 4.6953e+02 1.7142e+03 -2.0808e+03 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 ]; tmp2 = [ 2.4468e-01 6.3801e-02 -4.6503e-01 -4.8630e-04 -4.3850e-02 -3.2760e-02 1.9488e+00 -4.1852e-01 1.1023e+00 -2.8463e-02 -3.1498e-01 -1.8073e-01 -7.1107e+02 1.5082e+02 -3.9103e+02 9.6884e+00 1.0580e+02 5.9906e+01 -7.9500e+01 1.5993e+01 -4.4135e+01 1.1811e+00 1.3224e+01 7.5714e+00 -1.1103e+03 2.4038e+02 -1.0253e+03 1.9467e+01 1.9670e+02 1.0886e+02 1.4190e+03 -3.0711e+02 1.2665e+03 -2.9841e+01 -3.2704e+02 -1.9684e+02 -1.1618e+03 2.9805e+02 -1.1119e+03 2.8699e+01 3.2322e+02 2.0169e+02 2.9190e+02 -8.8827e+01 5.4230e+02 -1.0041e+01 -1.0304e+02 -6.1443e+01 -5.2963e+02 -9.6507e+01 -2.0285e+03 6.2428e+01 5.9450e+02 4.4464e+02 2.4782e+01 -4.9728e+00 2.2657e+01 -1.1861e+00 -1.3195e+01 -1.1612e+01 2.9858e+02 -7.2140e+01 3.0429e+02 -1.3979e+01 -1.5867e+02 -1.3505e+02 2.0002e+02 -6.5942e+01 7.1136e+01 -7.6095e+00 -9.9935e+01 -1.0988e+02 -7.6576e+01 2.7383e+01 -3.2169e+01 2.9940e+00 3.8594e+01 1.1352e+02 2.3143e-02 -1.5941e+00 -2.5440e+01 2.4234e-01 1.4531e+00 -8.7931e+00 -1.6179e+01 6.6496e+00 -3.3317e+00 7.7092e-01 1.0763e+01 1.9950e+01 1.0431e+00 -3.6913e+01 -6.9221e+02 9.4368e+00 8.5960e+01 -2.2965e+01 0 0 0 0 0 0 8.2768e+00 -2.0621e+00 6.1930e+00 -1.3071e-01 -1.3572e+00 -7.6256e-01 1.8178e+03 -4.0987e+02 1.1393e+03 -2.7510e+01 -2.9870e+02 -1.7046e+02 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 ]; tmp3 = [ 3.6580e-02 2.2193e-03 1.1129e-02 -2.0999e-01 0 -4.8746e+01 5.8465e-02 1.0122e-02 -8.5159e-03 -7.8677e-02 0 1.9422e+01 -1.8463e+01 -3.3117e+00 3.2439e+00 1.8809e+01 0 -2.6576e+03 -2.5840e+00 -4.3134e-01 2.9149e-01 4.3608e+00 0 -1.1060e+02 -2.4780e+01 -6.4904e+00 1.0396e+01 -2.4999e+01 0 2.3857e+02 6.2814e+01 1.2108e+01 -1.0411e+01 -9.2767e+01 0 -1.0745e+03 -6.8809e+01 -1.2466e+01 8.6744e+00 1.2916e+02 0 1.1597e+03 1.6466e+01 4.0887e+00 -4.9306e+00 -1.0201e+01 0 -1.9118e+02 -9.5010e+01 -2.1150e+01 4.5003e+01 -1.0128e+02 0 7.5243e+02 3.5439e+00 7.9244e-01 -8.1123e-01 -6.8289e+00 0 -1.9564e+01 4.5377e+01 1.0021e+01 -8.0372e+00 -1.1419e+02 0 -2.1478e+02 -3.0613e+01 1.6541e+01 -1.2100e+01 -1.3955e+02 0 -1.0160e+02 -1.7357e+01 -6.8889e+00 1.6736e+00 9.6150e+01 0 3.5252e+01 4.4737e+00 -7.5359e-01 2.7919e-01 3.1757e+01 0 3.7465e+00 -7.7540e+00 1.0249e+00 -3.4293e+00 5.1969e+01 0 5.0865e+00 1.9289e+01 -4.5934e+01 3.1770e+01 -1.5810e+03 0 8.3932e+01 0 0 0 0 -2.2600e-02 -3.6600e+01 1.8646e-01 4.1944e-02 -6.5384e-02 1.2011e-01 0 -1.9000e+00 5.1305e+01 9.5165e+00 -9.9186e+00 -4.5601e+01 1.2300e-02 -1.1700e+01 0 0 0 0 0 0 0 0 0 0 0 5.7300e+01 0 0 0 0 0 0 0 0 0 0 0 0 ]; g1 = [ 0 2.4901e+01 -8.5071e-01 4.3457e-01 2.0000e+01 0 4.0911e+01 3.3895e-01 7.1398e-01 0 0 -1.9357e+03 -4.6381e+01 -3.3782e+01 0 0 3.2397e+02 -1.9301e+00 5.6540e+00 0 0 1.2504e+03 4.1636e+00 2.1823e+01 0 0 -1.0258e+03 -1.8753e+01 -1.7902e+01 0 0 6.4633e+02 2.0240e+01 1.1280e+01 0 0 -2.1949e+02 -3.3365e+00 -3.8305e+00 0 0 -4.1527e+02 1.3131e+01 -7.2473e+00 0 0 -1.1724e+00 -3.4143e-01 -2.0461e-02 0 0 -4.0315e+01 -3.7483e+00 -7.0358e-01 0 0 -7.5120e+01 -1.7732e+00 -1.3110e+00 0 0 3.3973e+01 6.1523e-01 5.9291e-01 0 0 -6.0945e+00 6.5383e-02 -1.0636e-01 0 0 9.6296e+00 8.8769e-02 1.6806e-01 0 0 -1.5376e+02 1.4648e+00 -2.6835e+00 0 -1.8900e+01 -3.2100e+01 0 0 0 9.8300e-01 0 0 0 0 -2.6300e+00 0 0 0 0 1.0000e+00 0 0 0 0 0 0 0 0 0 0 5.7300e+01 0 0 0 0 0 0 0 -Inf]; g1 = [tmp1, tmp2, tmp3, g1]; disp('...done');