Scilab Function

h_inf - H-infinity (central) controller

### Calling Sequence

  `[Sk,ro]=h_inf(P,r,romin,romax,nmax)`
  `[Sk,rk,ro]=h_inf(P,r,romin,romax,nmax)`

### Parameters

- `P` : `syslin` list : continuous-time linear system (``augmented'' plant given in state-space form or in transfer form)
- `r` : size of the `P22` plant i.e. 2-vector [#outputs,#inputs]
- `romin,romax` : a priori bounds on `ro` with `ro=1/gama^2`; (`romin=0` usually)
- `nmax` : integer, maximum number of iterations in the gama-iteration.

### Description

`h_inf` computes H-infinity optimal controller for the continuous-time plant `P`.

The partition of `P` into four sub-plants is given through the 2-vector `r` which is the size of the `22` part of `P`.

`P` is given in state-space e.g. `P=syslin('c',A,B,C,D)` with `A,B,C,D` = constant matrices or `P=syslin('c',H)` with `H` a transfer matrix.

returns `ro` in `[romin,romax]` and the central controller `Sk` in the same representation as `P`.

(All calculations are made in state-space, i.e conversion to state-space is done by the function, if necessary).

Invoked with three LHS parameters,

returns `ro` and the Parameterization of all stabilizing controllers:

a stabilizing controller `K` is obtained by `K=lft(Sk,r,PHI)` where `PHI` is a linear system with dimensions `r'` and satisfy:

`H_norm(PHI) < gamma`. `rk (=r)` is the size of the `Sk22` block and `ro = 1/gama^2` after `nmax` iterations.

Algorithm is adapted from Safonov-Limebeer. Note that `P` is assumed to be a continuous-time plant.

### See Also

`gamitg` `ccontrg` `leqr`

### Author

F.D. (1990)