In loop-shaping controller synthesis, you specify the shape of the open-loop response you want, and use a loop-shaping function to compute a controller that approximates that shape.
ncfsyn for a first cut
design that provides some stability margin. For more control of the
shapes of system responses, you can instead perform mixed-sensitivity
loop shaping with
Mixed-sensitivity loop shaping combines performance and stability
robustness specifications into one cost function that penalizes both
sensitivity and complementary sensitivity.
|Loop shaping design using Glover-McFarlane method|
|Mixed-sensitivity H∞ synthesis method for robust control loop-shaping design|
|H∞ optimal controller
synthesis for LTI plant|
|Weighting function with monotonic gain profile|
|Generate Bessel, Butterworth, Chebyshev, or RC filter|
|Plant augmentation for weighted mixed-sensitivity H∞ and H2 loop-shaping design|
Plant model uncertainty can be a fundamental limiting factor in determining what can be achieved with feedback.
To quantify the multivariable stability margins and performance of a system, use the singular values of the closed-loop transfer functions of the system.
In loop-shaping controller synthesis, you specify the shape of the open-loop
response you want, and use
loopsyn to compute a controller
that approximates that shape.
This example shows how to use
loopsyn to address robustness and
When the initial results from
loopsyn are not satisfactory, refine
the target loop shape.
Mixed-sensitivity loop shaping combines robustness specifications for both performance and stability into one cost function that penalizes both sensitivity and complementary sensitivity.