Handin 3 - solution

Code for Handin 3.

handin3_solution.m Download handin3_solution.m

This file also uses Olles gofplot.m Download gofplot.m and the file fixfig.m Download fixfig.m Put these files somewhere matlab can access them.

Remark: The controller design achieves Mt (and Ms) around 7 (depending on tuning of Q11, Q22, R11 and R22).

This Mt-value is significantly larger than the theoretical design limit given in the paper $LaTeX: \Vert T \Vert_\infty \geq \exp(\tau p) \left| \frac{p+q}{p-q} \right| \approx \exp(0.2\cdot 3.2)\cdot \left| \frac{3+31}{3-31}\right| \approx 1.9\cdot 1.2 = 2.3$ $\Vert T \Vert_\infty \geq \exp(\tau p) \left| \frac{p+q}{p-q} \right| \approx \exp(0.2\cdot 3.2)\cdot \left| \frac{3+31}{3-31}\right| \approx 1.9\cdot 1.2 = 2.3$

It seems however hard to push down Mt without getting unrealistically aggressive controllers.

When we study H-infinity control we will get some ideas of how to push Mt closer to the limit 2.3 and can also study what will happen then.