init

FOTF Toolbox/pseudiag.m

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+function Kp=pseudiag(G1,R)
+% pseudiag - design of pseudodiagonalisation matrix
+%
+%    Kp=pseudiag(G1,R)
+%
+%   G1 - frequency response of the multivariable plant model, in MFD format
+%   R - weighting in the responses, optional
+%   Kp - the pre-compensator matrix
+
+% Copyright (c) Dingyu Xue, Northeastern University, China
+% Last modified 28 March, 2017 
+A=real(G1); B=imag(G1); [n,m]=size(G1); N=n/m; Kp=[];
+if nargin==1, R=ones(N,1); end
+for q=1:m, L=1:m; L(q)=[];
+   for i=1:m, for l=1:m, a=0;
+      for r=1:N, k=(r-1)*m;
+         a=a+R(r)*sum(A(k+i,L).*A(k+l,L)+B(k+i,L).*B(k+l,L));
+      end,
+      Ap(i,l)=a;
+   end, end
+   [x,d]=eig(Ap); [xm,ii]=min(diag(d)); Kp=[Kp; x(:, ii)'];
+end