Hello
I am trying to follow this paper
http://ietresearch.onlinelibrary.wiley.com/doi/epdf/10.1049/tje2.12078
I have made following code for making the system looking like this

The code is given below
A=[0 0 1 0;
0 0 0 1;
0 39.32 -14.52 0;
0 81.78 -13.98 0;];
B=[0;0;25.54;24.59];
C=[1 0 0 0;
0 1 0 0];
D=[0;0;];
sys=ss(A,B,C,D);
sys.InputName={‘u’};
sys.OutputName={‘theta’,’alpha’};

s=tf(‘s’);
Wact=0.002*(s+0.01)/(s+10);
Wact.u=’u’; Wact.y=’e1′;
Wn1=ss(0.05);
Wn1.u=’d1′; Wn1.y=’wn1′;
Wn2=ss(0.0275);
Wn2.u=’d2′; Wn2.y=’wn2′;
Wx1=151.5/(s+50.5);
Wx1.u=’theta’; Wx1.y=’e2′;
Wx2=202/(s+50.5);
Wx2.u=’alpha’; Wx2.y=’e3′;

sdmeas=sumblk(‘y1 = theta+wn1’);
abmeas=sumblk(‘y2 = alpha+wn2’);
ICinputs={‘d1′,’d2′,’u’};
ICoutputs={‘e1′,’e2′,’e3′,’y1′,’y2’};
qsys=connect(sys,Wact,Wn1,Wn2,Wx1,Wx2,sdmeas,abmeas,ICinputs,ICoutputs);
When I am running the command hinfsyn I get following gamma
[~,~,gamma]=hinfsyn(qsys,2,1)
while in the paper they have
gamma=0.6951 in section 3.1 H-infinty controll. Where is my mistake or any solution to get the same answer as in the paper ?

Thanks for all answers
Tor Erik HaavikHello
I am trying to follow this paper
http://ietresearch.onlinelibrary.wiley.com/doi/epdf/10.1049/tje2.12078
I have made following code for making the system looking like this

The code is given below
A=[0 0 1 0;
0 0 0 1;
0 39.32 -14.52 0;
0 81.78 -13.98 0;];
B=[0;0;25.54;24.59];
C=[1 0 0 0;
0 1 0 0];
D=[0;0;];
sys=ss(A,B,C,D);
sys.InputName={‘u’};
sys.OutputName={‘theta’,’alpha’};

s=tf(‘s’);
Wact=0.002*(s+0.01)/(s+10);
Wact.u=’u’; Wact.y=’e1′;
Wn1=ss(0.05);
Wn1.u=’d1′; Wn1.y=’wn1′;
Wn2=ss(0.0275);
Wn2.u=’d2′; Wn2.y=’wn2′;
Wx1=151.5/(s+50.5);
Wx1.u=’theta’; Wx1.y=’e2′;
Wx2=202/(s+50.5);
Wx2.u=’alpha’; Wx2.y=’e3′;

sdmeas=sumblk(‘y1 = theta+wn1’);
abmeas=sumblk(‘y2 = alpha+wn2’);
ICinputs={‘d1′,’d2′,’u’};
ICoutputs={‘e1′,’e2′,’e3′,’y1′,’y2’};
qsys=connect(sys,Wact,Wn1,Wn2,Wx1,Wx2,sdmeas,abmeas,ICinputs,ICoutputs);
When I am running the command hinfsyn I get following gamma
[~,~,gamma]=hinfsyn(qsys,2,1)
while in the paper they have
gamma=0.6951 in section 3.1 H-infinty controll. Where is my mistake or any solution to get the same answer as in the paper ?

Thanks for all answers
Tor Erik Haavik Hello
I am trying to follow this paper
http://ietresearch.onlinelibrary.wiley.com/doi/epdf/10.1049/tje2.12078
I have made following code for making the system looking like this

The code is given below
A=[0 0 1 0;
0 0 0 1;
0 39.32 -14.52 0;
0 81.78 -13.98 0;];
B=[0;0;25.54;24.59];
C=[1 0 0 0;
0 1 0 0];
D=[0;0;];
sys=ss(A,B,C,D);
sys.InputName={‘u’};
sys.OutputName={‘theta’,’alpha’};

s=tf(‘s’);
Wact=0.002*(s+0.01)/(s+10);
Wact.u=’u’; Wact.y=’e1′;
Wn1=ss(0.05);
Wn1.u=’d1′; Wn1.y=’wn1′;
Wn2=ss(0.0275);
Wn2.u=’d2′; Wn2.y=’wn2′;
Wx1=151.5/(s+50.5);
Wx1.u=’theta’; Wx1.y=’e2′;
Wx2=202/(s+50.5);
Wx2.u=’alpha’; Wx2.y=’e3′;

sdmeas=sumblk(‘y1 = theta+wn1’);
abmeas=sumblk(‘y2 = alpha+wn2’);
ICinputs={‘d1′,’d2′,’u’};
ICoutputs={‘e1′,’e2′,’e3′,’y1′,’y2’};
qsys=connect(sys,Wact,Wn1,Wn2,Wx1,Wx2,sdmeas,abmeas,ICinputs,ICoutputs);
When I am running the command hinfsyn I get following gamma
[~,~,gamma]=hinfsyn(qsys,2,1)
while in the paper they have
gamma=0.6951 in section 3.1 H-infinty controll. Where is my mistake or any solution to get the same answer as in the paper ?

Thanks for all answers
Tor Erik Haavik matlab code, control system, roboust control system MATLAB Answers — New Questions

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