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Robust hinfsyn: add suboptimal synth #1184

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Robust hinfsyn: add suboptimal synth #1184

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1ffc334
add suboptimal controller generation option to hinfsyn in control/rob…
wuschel-brompf Nov 4, 2025
22b533e
add default value
wuschel-brompf Nov 4, 2025
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18 changes: 14 additions & 4 deletions control/robust.py
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Original file line number Diff line number Diff line change
Expand Up @@ -85,7 +85,7 @@ def h2syn(P, nmeas, ncon):
return K


def hinfsyn(P, nmeas, ncon):
def hinfsyn(P, nmeas, ncon, gamTry=None):
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@murrayrm murrayrm Nov 9, 2025

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This parameter name doesn't not follow python-control naming conventions. From the developer notes:

Use longer description parameter names that describe the action or role (e.g., trajectory_constraints and print_summary in optimal.solve_optimal_trajectory.

I suggest something like target_gamma for this parameter name.

# TODO: document significance of rcond
"""H-infinity control synthesis for plant P.

Expand All @@ -97,6 +97,8 @@ def hinfsyn(P, nmeas, ncon):
Number of measurements (input to controller).
ncon : int
Number of control inputs (output from controller).
gamTry : int, optional
Target performance level (default = None).
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@murrayrm murrayrm Nov 9, 2025

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Although this is consistent with the current very terse docstring, I think a bit more information is needed, either here or in a Notes section later in the docstring. Something like:

If target_gamma is specified, then a controller with the target value of $\gamma$ will be generated. This is potentially suboptimal, but save computation time.


Returns
-------
Expand Down Expand Up @@ -137,7 +139,10 @@ def hinfsyn(P, nmeas, ncon):
>>> P = ct.interconnect([P11, P12, P21, P22], inplist=['w', 'u'], outlist=['z', 'y'])

>>> # Synthesize Hinf optimal stabilizing controller
>>> K, CL, gam, rcond = ct.hinfsyn(P, nmeas=1, ncon=1)
>>> K_opt, CL_opt, gam_opt, rcond_opt = ct.hinfsyn(P, nmeas=1, ncon=1)

>>> # Synthesize suboptimal controller with better numerical properties
>>> K, CL, gam, rcond = ct.hinfsyn(P, nmeas=1, ncon=1, gamTry=1.1*gam_opt)
>>> T = ct.feedback(G, K, sign=1)
>>> all(T.poles() < 0)
True
Expand All @@ -156,8 +161,13 @@ def hinfsyn(P, nmeas, ncon):
n = np.size(P.A, 0)
m = np.size(P.B, 1)
np_ = np.size(P.C, 0)
gamma = 1.e100
out = sb10ad(n, m, np_, ncon, nmeas, gamma, P.A, P.B, P.C, P.D)
if gamTry == None:
gamma = 1.e100,
job = 3
else:
gamma = gamTry
job = 4
out = sb10ad(n, m, np_, ncon, nmeas, gamma, P.A, P.B, P.C, P.D, job)
gam = out[0]
Ak = out[1]
Bk = out[2]
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