National Instruments Xmath Interactive Control Design Module ICDM - Manual (Page 104)

Chapter 12 LQG/H-Infinity Synthesis
Xmath Interactive Control Design Module 12-10 ni.com
Figure 12-6. LQG/H-Infinity Control Design Configuration
In the block diagram, σ
sens
represents a matrix that selects a subset of the
set of plant outputs as measurements. Similarly,
σ
act
selects a subset of the
plant inputs as control inputs. These subsets are determined by the toggle
buttons in the weights window. These allow the user to quickly investigate
the effect of including/excluding sensors and actuators without having to
redefine the plant model.
w
C
act P W
y
u
act
∫
W
u
u
F
˜
x
p
˜
y
y
I
y
I
sens
y
I,sens
sens
y ˜
˜
sens
–
y
sens
y
p,sens
u
y
p
z
y