Program sources

• Makefile

  Purpose: to compile C programs

  Input: adc.h, adc.c, freqresp.h, freqresp_module.c, freqresp_app.c, hinf.h, hinf_module.c, hinf_app.c

  Output: adc.o, freqresp_module.o freqresp_app, hinf_module.o hinf_app

  Usage:

  % make
  	

• adc.h, adc.c ... describes device drivers for A/D and D/A board
  
  
• freqresp.h, freqresp_module.c, freqresp_app.c

  Purpose: to examine frequency response of plant

  Input: -

  Output: data/spk1.dat, data/spk2.dat

  Usage:

  % insmod freqresp_module.o
  % ./freqresp_app
  % rmmod freqresp_module
  	

• hinf.h, hinf_module.c, hinf_app.c

  Purpose: to execute control exp/commoneriment

  Input: data/controller.dat, data/controller_order.dat

  Output: data/result.dat

  Usage:

  % insmod hinf_module.o
  % ./hinf_app
  % rmmod hinf_module
  	

• nominal.m (which calls subspace.m)

  Purpose: to obtain nominal plant from frequency response

  Input: data/spk1.dat, data/spk2.dat; n:order of nominal plant defiend in nominal.m

  Output: data/nominal.mat

  Usage:

  >> nominal
  	

  weight.m

  Purpose: to decide weight function for robust stability (to confirm that gain of weight function covers all of modeling error)

  Input: data/nominal.mat; W:weight function defined in weight.m

  Output: data/weight.mat

  Usage

  >> weight
  	

  hinf.m

  Purpose: to design a controller by solving constantly scaled H infinity control problem (constant scaling d should be specified such that k is maximized)

  Input: data/nominal.mat, data/weight.mat

  Output: data/controller.dat:controller realization; data/controller_order.dat:controller order; searching range for d specified in hinf.m

  Usage:

  >> hinf