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control.augw — Python Control Systems Library 0.10.2 documentation

control.augw(g, w1=None, w2=None, w3=None)[source]

Augment plant for mixed sensitivity problem.

If a weighting is None, no augmentation is done for it. At least one weighting must not be None.

If a weighting w is scalar, it will be replaced by I*w, where I is ny-by-ny for w1 and w3, and nu-by-nu for w2.

Parameters:

gLTI object, ny-by-nu

Plant.

w1None, scalar, or k1-by-ny LTI object

Weighting on S.

w2None, scalar, or k2-by-nu LTI object

Weighting on KS.

w3None, scalar, or k3-by-ny LTI object

Weighting on T.

Returns:

pStateSpace

Plant augmented with weightings, suitable for submission to hinfsyn or h2syn.

Raises:

ValueError

If all weightings are None.

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