types.control_advanced.HInfControlResult

types.control_advanced.HInfControlResult()

H∞ robust control result.

H∞ control minimizes the worst-case gain from disturbances to performance outputs, providing guaranteed robustness.

Fields

gain : GainMatrix H∞ controller gain K (nu, nx) hinf_norm : float Achieved H∞ norm ‖G‖∞ gamma : float Performance bound γ (hinf_norm ≤ γ) central_solution : CovarianceMatrix Central Riccati solution (nx, nx) feasible : bool Whether γ was achievable robustness_margin : float Stability margin (how much uncertainty tolerated)

Examples

>>> # Design H∞ controller with γ = 2.0
>>> A = np.array([[0, 1], [-2, -3]])
>>> B = np.array([[0], [1]])
>>> C_z = np.eye(2)
>>> D_zu = np.zeros((2, 1))
>>>
>>> result: HInfControlResult = design_hinf_controller(
...     A, B, C_z, D_zu, gamma=2.0
... )
>>>
>>> if result['feasible']:
...     K = result['gain']
...     print(f"Achieved γ: {result['hinf_norm']:.3f}")
...     print(f"Robustness margin: {result['robustness_margin']:.3f}")
... else:
...     print("γ = 2.0 not achievable, try larger γ")
>>>
>>> # Verify worst-case performance
>>> # ‖G_cl‖∞ ≤ γ guarantees robustness to uncertainties