NGMV Control Toolbox

NGMV feedback, feedforward and tracking controller synthesis

Syntax

• [CFB,CFF1,CFF2,CTR,C_LOOP,C_COMMON] = NGMVFFC(A,k,Bk,Cd,Ew,Er,Ar,NP,Dd1,A1,NI,Pcn,Pcd{,Ts})
• [...] = NGMVFFC(A,Dk,...)

• [...,F0,G0,F1,G1,F2,G2,Df] = NGMVFFC(…)

Description

This routine computes the feedback, feedforward and tracking components of the optimal nonlinear generalized minimum variance controller such that the cost function

is minimized, and subject to the linear plant, unmeasurable disturbance and set-point models: , measurable disturbance model: and the reference model: . The measurable disturbance contains an additional delay of NI steps and the reference signals is assumed to be known NP steps into the future. Ts is the sampling time in seconds. If omitted, it is set to -1.

The diagram below shows the arrangement of the controller component blocks, which are all returned as LTI models. Note that the common integrator is extracted from the controller subsystems and placed in the model C_COMMON.

[...] = ngmvffc(A,Bk,Dk,...) computes the NGMV controller for MIMO plants (in RMF format) using Polynomial Toolbox. Dk in this case is a diagonal polynomial matrix of pure delays or could also be given as a scalar (common delay).

[...,F0,G0,F1,G1,F2,G2,Df] = ngmvffc(...) returns also the solution to the Diophantine equations and the spectral factor.

See Also

gmvc, ngmvffc

ngmvfact

ngmvss