Q=
2 ρ−I
−I 2 ν,
where ρ is the minimum output passivity index and ν is the minimum input passivity index
specified in the dialog box. Rmax is fixed at 10 6 , included to avoid numeric errors for very
large R.This tuning goal imposes an implicit minimum-phase constraint on the transfer function G
+ I. The transmission zeros of G + I 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
- “Passive Control of Water Tank Level” (Control System Toolbox)
- “About Passivity and Passivity Indices” (Control System Toolbox)
10 Control System Tuning