fx =1
sTs,x −Hrefs 2
erel
1
sHrefs−I 2.
T(s,x) is the closed-loop transfer function between the specified inputs and outputs,
evaluated with parameter values x. Href(s) is the reference model. erel is the relative error
(see “Options” on page 10-65). ⋅ 2 denotes the H 2 norm (see norm).
This tuning goal also imposes an implicit stability constraint on the closed-loop transfer
function between the specified inputs to outputs, evaluated with loops opened at the
specified loop-opening locations. The dynamics affected by this implicit constraint are the
stabilized dynamics for this tuning goal. The Minimum decay rate and Maximum
natural frequency tuning options control the lower and upper bounds on these implicitly
constrained dynamics. If the optimization fails to meet the default bounds, or if the
default bounds conflict with other requirements, on the Tuning tab, use Tuning Options
to change the defaults.
See Also
Related Examples
- “Specify Goals for Interactive Tuning” on page 10-39
- “Manage Tuning Goals” on page 10-177
- “Visualize Tuning Goals” on page 10-187
See Also