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J.D.
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I am trying to do an analysis similar to : Stability‐and performance‐robustness tradeoffs: MIMO mixed‐µ vs complex‐µ design

I have a MIMO system composed by a mass-spring damper system which has a plant with \$6\$ inputs and \$4\$ outputs.

In the system is present an unmodeled dynamics on the acutators, and it is modeled as a delay, and it adds to the system as a multiplicative uncertainty.

To add the unmodeled dynamics to the system, I am trying to do the following:

G = ss(A,[B1 B2],[C1;C2],[D11 D12;D21 D22]);

delta = ultidyn('delta',[2 2],'SampleStateDim',5,'Bound',1);

W_tau = ((2.1*s)/(s+40))*eye(2);

G  = G*append(eye(2)+W_tau*delta,3)

where G is the plant of the system, and contains uncertain parameters.

If I do this, I get the following error:

Error using  *  (line 80)
Model I/O dimensions must agree.

To try to solve the problem I am try to look at this : Control of a Spring-Mass-Damper System Using Mixed-Mu Synthesis from the Matlab documentation.

I have also found that the problem does not exists if I consider a \$1x1\$ system, so if I do:

G = ss(A,[B1 B2],[C1;C2],[D11 D12;D21 D22]);

delta = ultidyn('delta',[1 1],'SampleStateDim',5,'Bound',1);

W_tau = ((2.1*s)/(s+40))

G  = G*append(1+W_tau*delta)

everything works fine.

I have also tried to do:

G  = G.*append(1+W_tau*delta)

but still does not work.

can somebody please help me solve this problem?

I am trying to do an analysis similar to : Stability‐and performance‐robustness tradeoffs: MIMO mixed‐µ vs complex‐µ design

I have a MIMO system composed by a mass-spring damper system which has a plant with \$6\$ inputs and \$4\$ outputs.

In the system is present an unmodeled dynamics on the acutators, and it is modeled as a delay, and it adds to the system as a multiplicative uncertainty.

To add the unmodeled dynamics to the system, I am trying to do the following:

G = ss(A,[B1 B2],[C1;C2],[D11 D12;D21 D22]);

delta = ultidyn('delta',[2 2],'SampleStateDim',5,'Bound',1);

W_tau = ((2.1*s)/(s+40))*eye(2);

G  = G*append(eye(2)+W_tau*delta,3)

where G is the plant of the system, and contains uncertain parameters.

If I do this, I get the following error:

Error using  *  (line 80)
Model I/O dimensions must agree.

To try to solve the problem I am try to look at this : Control of a Spring-Mass-Damper System Using Mixed-Mu Synthesis from the Matlab documentation.

I have also found that the problem does not exists if I consider a \$1x1\$ system, so if I do:

G = ss(A,[B1 B2],[C1;C2],[D11 D12;D21 D22]);

delta = ultidyn('delta',[1 1],'SampleStateDim',5,'Bound',1);

W_tau = ((2.1*s)/(s+40))

G  = G*append(1+W_tau*delta)

everything works fine.

can somebody please help me solve this problem?

I am trying to do an analysis similar to : Stability‐and performance‐robustness tradeoffs: MIMO mixed‐µ vs complex‐µ design

I have a MIMO system composed by a mass-spring damper system which has a plant with \$6\$ inputs and \$4\$ outputs.

In the system is present an unmodeled dynamics on the acutators, and it is modeled as a delay, and it adds to the system as a multiplicative uncertainty.

To add the unmodeled dynamics to the system, I am trying to do the following:

G = ss(A,[B1 B2],[C1;C2],[D11 D12;D21 D22]);

delta = ultidyn('delta',[2 2],'SampleStateDim',5,'Bound',1);

W_tau = ((2.1*s)/(s+40))*eye(2);

G  = G*append(eye(2)+W_tau*delta,3)

where G is the plant of the system, and contains uncertain parameters.

If I do this, I get the following error:

Error using  *  (line 80)
Model I/O dimensions must agree.

To try to solve the problem I am try to look at this : Control of a Spring-Mass-Damper System Using Mixed-Mu Synthesis from the Matlab documentation.

I have also found that the problem does not exists if I consider a \$1x1\$ system, so if I do:

G = ss(A,[B1 B2],[C1;C2],[D11 D12;D21 D22]);

delta = ultidyn('delta',[1 1],'SampleStateDim',5,'Bound',1);

W_tau = ((2.1*s)/(s+40))

G  = G*append(1+W_tau*delta)

everything works fine.

I have also tried to do:

G  = G.*append(1+W_tau*delta)

but still does not work.

can somebody please help me solve this problem?

added 312 characters in body
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J.D.
  • 103
  • 10

I am trying to do an analysis similar to : Stability‐and performance‐robustness tradeoffs: MIMO mixed‐µ vs complex‐µ design

I have a MIMO system composed by a mass-spring damper system which has a plant with \$6\$ inputs and \$4\$ outputs.

In the system is present an unmodeled dynamics on the acutators, and it is modeled as a delay, and it adds to the system as a multiplicative uncertainty.

To add the unmodeled dynamics to the system, I am trying to do the following:

G = ss(A,[B1 B2],[C1;C2],[D11 D12;D21 D22]);

delta = ultidyn('delta',[2 2],'SampleStateDim',5,'Bound',1);

W_tau = ((2.1*s)/(s+40))*eye(2);

G  = G*append(eye(2)+W_tau*delta,3)

where G is the plant of the system, and contains uncertain parameters.

If I do this, I get the following error:

Error using  *  (line 80)
Model I/O dimensions must agree.

To try to solve the problem I am try to look at this : Control of a Spring-Mass-Damper System Using Mixed-Mu Synthesis from the Matlab documentation.

I have also found that the problem does not exists if I consider a \$1x1\$ system, so if I do:

G = ss(A,[B1 B2],[C1;C2],[D11 D12;D21 D22]);

delta = ultidyn('delta',[1 1],'SampleStateDim',5,'Bound',1);

W_tau = ((2.1*s)/(s+40))

G  = G*append(1+W_tau*delta)

everything works fine.

can somebody please help me solve this problem?

I am trying to do an analysis similar to : Stability‐and performance‐robustness tradeoffs: MIMO mixed‐µ vs complex‐µ design

I have a MIMO system composed by a mass-spring damper system which has a plant with \$6\$ inputs and \$4\$ outputs.

In the system is present an unmodeled dynamics on the acutators, and it is modeled as a delay, and it adds to the system as a multiplicative uncertainty.

To add the unmodeled dynamics to the system, I am trying to do the following:

G = ss(A,[B1 B2],[C1;C2],[D11 D12;D21 D22]);

delta = ultidyn('delta',[2 2],'SampleStateDim',5,'Bound',1);

W_tau = ((2.1*s)/(s+40))*eye(2);

G  = G*append(eye(2)+W_tau*delta,3)

where G is the plant of the system, and contains uncertain parameters.

If I do this, I get the following error:

Error using  *  (line 80)
Model I/O dimensions must agree.

To try to solve the problem I am try to look at this : Control of a Spring-Mass-Damper System Using Mixed-Mu Synthesis from the Matlab documentation.

can somebody please help me solve this problem?

I am trying to do an analysis similar to : Stability‐and performance‐robustness tradeoffs: MIMO mixed‐µ vs complex‐µ design

I have a MIMO system composed by a mass-spring damper system which has a plant with \$6\$ inputs and \$4\$ outputs.

In the system is present an unmodeled dynamics on the acutators, and it is modeled as a delay, and it adds to the system as a multiplicative uncertainty.

To add the unmodeled dynamics to the system, I am trying to do the following:

G = ss(A,[B1 B2],[C1;C2],[D11 D12;D21 D22]);

delta = ultidyn('delta',[2 2],'SampleStateDim',5,'Bound',1);

W_tau = ((2.1*s)/(s+40))*eye(2);

G  = G*append(eye(2)+W_tau*delta,3)

where G is the plant of the system, and contains uncertain parameters.

If I do this, I get the following error:

Error using  *  (line 80)
Model I/O dimensions must agree.

To try to solve the problem I am try to look at this : Control of a Spring-Mass-Damper System Using Mixed-Mu Synthesis from the Matlab documentation.

I have also found that the problem does not exists if I consider a \$1x1\$ system, so if I do:

G = ss(A,[B1 B2],[C1;C2],[D11 D12;D21 D22]);

delta = ultidyn('delta',[1 1],'SampleStateDim',5,'Bound',1);

W_tau = ((2.1*s)/(s+40))

G  = G*append(1+W_tau*delta)

everything works fine.

can somebody please help me solve this problem?

added 2 characters in body
Source Link
J.D.
  • 103
  • 10

I am trying to do an analysis similar to : Stability‐and performance‐robustness tradeoffs: MIMO mixed‐µ vs complex‐µ design

I have a MIMO system composed by a mass-spring damper system which has a plant with \$6\$ inputs and \$4\$ outputs.

In the system is present an unmodeled dynamics on the acutators, and it is modeled as a delay, and it adds to the system as a multiplicative uncertainty.

To add the unmodeled dynamics to the system, I am trying to do the following:

G = ss(A,[B1 B2],[C1;C2],[D11 D12;D21 D22]);

delta = ultidyn('delta',[2 2],'SampleStateDim',5,'Bound',1);

W_tau = ((2.1*s)/(s+40))*eye(2);

G  = G*append(eye(2)+W_tau*delta,3)

where G is the plant of the system, and contains uncertain parameters.

If I do this, I get the following error:

Error using  *  (line 80)
Model I/O dimensions must agree.

To try to solve the problem I am try to look at this : Control of a Spring-Mass-Damper System Using Mixed-Mu Synthesis from the Matlab documentation.

can somebody please help me solve this problem?

I am trying to do an analysis similar to : Stability‐and performance‐robustness tradeoffs: MIMO mixed‐µ vs complex‐µ design

I have a MIMO system composed by a mass-spring damper system which has a plant with \$6\$ inputs and \$4\$ outputs.

In the system is present an unmodeled dynamics on the acutators, and it is modeled as a delay, and it adds to the system as a multiplicative uncertainty.

To add the unmodeled dynamics to the system, I am trying to do the following:

G = ss(A,[B1 B2],[C1;C2],[D11 D12;D21 D22]);

delta = ultidyn('delta',[2 2],'SampleStateDim',5,'Bound',1);

W_tau = (2.1*s)/(s+40)*eye(2);

G  = G*append(eye(2)+W_tau*delta,3)

where G is the plant of the system, and contains uncertain parameters.

If I do this, I get the following error:

Error using  *  (line 80)
Model I/O dimensions must agree.

can somebody please help me solve this problem?

I am trying to do an analysis similar to : Stability‐and performance‐robustness tradeoffs: MIMO mixed‐µ vs complex‐µ design

I have a MIMO system composed by a mass-spring damper system which has a plant with \$6\$ inputs and \$4\$ outputs.

In the system is present an unmodeled dynamics on the acutators, and it is modeled as a delay, and it adds to the system as a multiplicative uncertainty.

To add the unmodeled dynamics to the system, I am trying to do the following:

G = ss(A,[B1 B2],[C1;C2],[D11 D12;D21 D22]);

delta = ultidyn('delta',[2 2],'SampleStateDim',5,'Bound',1);

W_tau = ((2.1*s)/(s+40))*eye(2);

G  = G*append(eye(2)+W_tau*delta,3)

where G is the plant of the system, and contains uncertain parameters.

If I do this, I get the following error:

Error using  *  (line 80)
Model I/O dimensions must agree.

To try to solve the problem I am try to look at this : Control of a Spring-Mass-Damper System Using Mixed-Mu Synthesis from the Matlab documentation.

can somebody please help me solve this problem?

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