% Hinf control design WS = 10/(s+10); % weight for sensitivity function) % WS = ss(1); systemnames = 'P WS'; inputvar = '[ r; u ]'; outputvar = '[ WS; r-P ]'; input_to_P = '[ u ]'; input_to_WS = '[ r-P ]'; cleanupsysic = 'yes'; G = sysic; [K_hinf, clp, gopt] = hinfsyn(G, 1, 1, 'DISPLAY', 'on'); figure(1); bode(K_hinf, 'r--'); figure(2); nyquist(P*K_hinf, 'r--'); % check for closed-loop stability S_hinf = 1/(1+P*K_hinf); % sensitivity function figure(3); bodemag(S_hinf, 'r--', gopt*inv(WS), 'g--'); figure(4); T_hinf = 1 - S_hinf; % complementary sensitivity function step(T_hinf, 'r--', 10); % step response