National Instruments Xmath Interactive Control Design Module ICDM - Manual (Page 95)

© National Instruments Corporation 12-1 Xmath Interactive Control Design Module
12
LQG/H-Infinity Synthesis
This chapter describes the MIMO LQG/H
∞ Synthesis window. The
LQG
/H∞ window is used to synthesize both LQG and H∞ controllers.
The two design methods have been combined in a single window because
of the similarity regarding the use of weights: constant weights,
frequency-dependent weights, and integrators.
Window Anatomy
The MIMO LQG/H
∞Synthesis window consists of a main window and
four auxiliary windows for editing constant weights, frequency-dependent
weight functions, decay rate, and performance level.
LQG/H-Infinity Main Window
The LQG/H
∞ Main window is shown in Figure 12-1. From top to bottom,
it consists of:
• A menu bar with entries Special, Edit, View, and Help.
• A message area that describes the synthesis mode (type of controller),
for example, LQG with integral action.
• A control panel for changing the five design parameters:
– Control cost parameter (
ρ)
– Sensor noise parameter (
ν)
– Integral action time constant (T
int
)
– Decay rate or exponential time weighting parameter (a)
– H
∞ performance level (γ)