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First attempt to get MIMO system multiplicative uncertainty

This commit is contained in:
Enrico Lumetti 2021-08-13 13:48:04 +02:00
parent 316eb0e1df
commit 3c7a6776d7
1 changed files with 13 additions and 0 deletions
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13
robust/mult_uncertainty.m
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@ -27,8 +27,21 @@ data = frd(info.Bounds(:, 2), w);
% use a second-order model % use a second-order model
I_m_analytic = tf(fitmagfrd(data, 2)); I_m_analytic = tf(fitmagfrd(data, 2));
% For MIMO systems, the division in the expression for I_m doesn't make
% sense
% This is another way to compute it:
opt = wcOptions('MussvOptions','m3'); % for better lower bound
[wcg, wcu, info_num] = wcgain(G-G_nom, w);
[wcg, wcu, info_den] = wcgain(G_nom, w, opt);
resp_im = info_num.Bounds(:, 2) ./ info_den.Bounds(:, 1);
data_2 = frd(resp_im, w);
I_m_analytic_2 = tf(fitmagfrd(data_2, 2));
sigma(I_m, w); hold; sigma(I_m, w); hold;
semilogx(w, 20*log10(info.Bounds(:, 2)), 'green'); semilogx(w, 20*log10(info.Bounds(:, 2)), 'green');
sigma(I_m_analytic, 'red'); sigma(I_m_analytic, 'red');
sigma(I_m_analytic_2, 'yellow');
I_m_analytic I_m_analytic