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我用hinfsyn函数设计了一个控制器:
[k,clp]=hinfsyn(sys,nmeas,ncon,gmin,gmax,tol);
出现了如下错误:
Warning: Matrix is singular to working precision.
> In hinf_st at 49
In hinfsyn at 129
??? Error using ==> norm
NaN or Inf prevents convergence.
Error in ==> hinf_st at 49
norm2 = norm(d11*(eye(nm1)-(d21\'/(d21*d21\'))*d21));
Error in ==> hinfsyn at 129
[p,r12,r21,fail,gmin] = hinf_st(p,nmeas,ncon,gmin,gmax,quiet);
我对sys进行奇异值分解,结果如下:
ans=eig(a'*a);sigular=sqrt(ans)
sigular= 1.0e+004 *
1.0e+004 *
[0.0001, 0.0001,0.0001,0.0001,0.0001 ,0.0001, 0.0001 ,0.0001,0.0003 ,0.0097,0.0137 ,0.0288 ,0.0948,0.2088,
0.2775,2.5245]'
请问这个问题怎么处理,谢谢
[ 本帖最后由 xmwhit 于 2008-12-16 21:06 编辑 ] |
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