Example: μ-synthesis with DK-iteration

Consider the following system:

with multiplicative input uncertainty and the weights

The uncertainty weight is then wII and the performance weight wpI. The objective is to minimize the
peak value of

Using DK Iteration (from MATLAB Robust Control Toolbox)

% D-K Iteration Example
clear all
clc

G=tf(1,[75 1])*[87.8 -86.4;108.2 -109.6];

% Convert into state-space form
G=minreal(ss(G));

% Determine the performance and uncertainty weights in 2 dimensions

Wp=minreal(ss(tf([0.5 0.05],[1 1e-6])*eye(2)));
Wi=minreal(ss(tf([1 0.2],[0.5 1])*eye(2)));
% Form the generalised plant P by calling sysic-function
systemnames='G Wp Wi'; % defines the models used
inputvar='[udelta(2);w(2);u(2)]'; % defines the sizes and names of the input
signals
outputvar='[Wi;Wp; -G-w]'; % defines the names of the output signals
input_to_G='[u+udelta]'; % defines the signals fed to the process model (G)
input_to_Wp='[G+w]'; % defines the signals fed to the performance weighting
model
input_to_Wi='[u]'; % defines the signals fed to the input uncertainty
weighting model
sysoutname='P'; % defines the resulting model name
cleanupsysic='yes'; % toggles whether the above variables are cleared after
calling sysic-function
sysic; % Generates a plant model
P=minreal(ss(P));
%Initialize
omega=logspace(-3,3,61); % spaces 61 divided logarithmically
%over 10^-3 and 10^3
blk=[1 1;1 1;2 2]; % Determine the block structure (2 times 1by1
%block or input uncertainty and 1 times 2by2 for performance
nmeas=2; nu=2; d0=1;
D=append(d0,d0,tf(eye(2)),tf(eye(2))); % Initial scaling

% Start iteration
% STEP 1: Find H-infinity controller with the given scalings
[K,Nsc,gamma,info]=hinfsyn(D*P*inv(D),nmeas,nu,'method','lmi','Tolgam',1e-3);
Nf=frd(lft(P,K),omega);
% STEP 2: Compute mu using upper bound;
[mubnds,Info]=mussv(Nf,blk,'c');
bodemag(mubnds(1,1),omega);
hold on
murp=norm(mubnds(1,1),inf,1e-6);
%STEP 3: Fit resulting D-scales
[dsys1,dsysr]=mussvunwrap(Info);
dsys1=dsys1/dsys1(3,3);
d1=fitfrd(genphase(dsys1(1,1)),4);
% GO TO STEP 1
% Alternatively use automatic software
Delta=[ultidyn('D_1',[1 1]) 0;0 ultidyn('D_2',[1 1])] % Diagonal uncertainty
Punc=lft(Delta,P);
opt=dkitopt('FrequencyVector',omega);
[K,clp,bnd,dkinfo]=dksyn(Punc,nmeas,nu,opt);

for in=1:4
bodemag(dkinfo{1,in}.MussvBnds(1,1),omega)
end
hold off