Robust Control Toolbox™ commands let you apply the powerful methods of
H∞ synthesis to
SISO and MIMO control design problems. Commands such as
hinfsyn perform traditional synthesis of
full-order, centralized controllers. To tune control systems with
predefined architectures and controller structures, you can use
hinfstruct. For more information about the
difference, see Difference Between Fixed-Structure Tuning and Traditional H-Infinity Synthesis.
|Compute H-infinity optimal controller
|Option set for
|Compute H2 optimal controller
|Option set for
h2syn (Since R2019a)
|Full-control H-infinity synthesis
|Full-information H-infinity synthesis
|Compute H∞ controller for sampled-data system
|Mixed H2/H∞ synthesis with regional pole placement constraints
|H∞ norm of dynamic system
Fixed-Structure Controller Tuning
H∞ Synthesis of Centralized Controllers
- Robust Control of Active Suspension
In this example, use H∞ synthesis to design a controller for a nominal plant model. Then, use μ synthesis to design a robust controller that accounts for uncertainty in the model.
- Control of a Two-Tank System
This example shows how to use Robust Control Toolbox™ to design a robust controller (using D-K iteration) and to do robustness analysis on a process control problem.
H∞ Tuning of Fixed-Structure Controllers
- Fixed-Structure H-infinity Synthesis with hinfstruct
This example shows the complete workflow for tuning a control system with
- Build Tunable Model for Tuning with hinfstruct
Create a generalized LTI model of the system that includes the fixed and tunable elements and weighting functions that represent your design requirements.
- Extract Tunable Control System from Simulink Model
This example shows how to create a tunable model for tuning with
hinfstruct, starting with a Simulink® model of your control system.
- Tune and Validate Controller Parameters
hinfstructto tune the tunable parameters in the
genssmodel of your control system.
- Speed Up Tuning with Parallel Computing Toolbox Software
If you have the Parallel Computing Toolbox™ software installed, you can speed up the tuning of fixed-structure control systems.
About H∞ Control Design
- Difference Between Fixed-Structure Tuning and Traditional H-Infinity Synthesis
Traditional H∞ synthesis designs a full-order, centralized controller. Fixed-structure tuning lets you specify your control architecture and the structure and parameterization of the tunable elements of your system.
- Norms and Singular Values
For MIMO systems the transfer functions are matrices, and relevant measures of gain are determined by singular values, H∞, and H2 norms.
- Formulating Design Requirements as H-Infinity Constraints
hinfstruct, you express your design requirements as constraints on the closed-loop gain.
- H-Infinity Performance
Many types of control objectives can be posed as a minimization of norms of closed-loop transfer functions.
- Interpretation of H-Infinity Norm
There are several ways of defining norms of a scalar signal, which have different physical interpretations and provide different measures of performance.