National Instruments Xmath Interactive Control Design Module ICDM User Manual page 98

Chapter 12 LQG/H-Infinity Synthesis
Xmath Interactive Control Design Module
• A table with n rows with, in each row:
y
– A toggle button to include the output in the set of measured
outputs
– A toggle button to include the output in the set of costed outputs,
labeled with the signal name
– A slider defining the constant weight factor of the output:
– A variable edit box for the same constant weight factor
• A slider representing the logarithmic average of the weights for each
output ( ), that is,
y
• A button for entering an Xmath variable name of type matrix of the
form
containing the weights on states and inputs, including cross terms.
The control weight parameter in the main LQG/H window is related to
the weights in this window by
If the radio buttons in the first row are set to select the noise level display,
the contents of the window looks almost exactly the same. The leftmost
column of toggle buttons has the same meaning, but the second column of
toggle buttons is used to enable/disable the noise on selected inputs and
outputs.
The sliders represent the noise intensities instead of the control cost. The
button is meant to load the noise variance matrix of states and outputs,
including cross terms:
i 1
=
y j
n
u
1
∑
log log
---- -
=
y
n
y
j1 =
R R
xx xu
R
=
R R
ux uu
= / .
u y
Q Q
xx xy
Q
=
Q Q
yx yy
12-4
n
y
y j
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