Software
Julia
RobustAndOptimalControl.jl
The main package for robust and optimal control in Julia. Documentation at RobustAndOptimalControl.jl. There is a dedicated section in the manual on the \mathcal H_\infty control design.
- hinfsynthesize: control design by minimizing the \mathcal{H}_\infty norm the the mixed-sensitivity function.
- hinfpartition
- specificationsplot: plotting the sensitivity, complementary sensitivity and input sensitivity functions and corresponding weighting filters relevant in the mixed sensitivity design.
- glover_mcfarlane: Glover-McFarlane method of robust stabilization of a loop-shaping design based on \mathcal{H}_\infty optimal control.
- glover_mcfarlane_2dof: the same as above, but yielding a two-degree-of-freedom controller.
- hanus: a technique for antiwindup.
Matlab
Robust Control Toolbox
mixsyn: control design by minimizing the \mathcal{H}_\infty norm the the mixed-sensitivity function.
hinfsyn: control design by minimizing the \mathcal{H}_\infty norm of a closed-loop transfer function formulated using an LFT.
ncfsyn: Glover-McFarlane method of robust stabilization of a loop-shaping design based on \mathcal{H}_\infty optimal control.
musyn: similar general setup as the hinfsyn method, but it considers a structure in the \Delta term. It is regarded by some as the culmination of the \mathcal{H}_\infty control design methods. The disadvantage is that it is the most computationally intensive of the methods we covered, and the resulting controller is typically of rather high order.