The first step in applying IQClab is to create uncertainty and performance blocks and associate each of them with the corresponding in- and outputs of the plant . This proceeds by means of the class iqcdelta, which allows to:
- create uncertainty/performance blocks/objects as instance of the class iqcdelta;
- associate each of these block with the corresponding in- and output channels of the plant ;
- assign the nature of the uncertainties to the blocks (linear/nonlinear, time-invariant/time-varying, static/dynamic, diagonal/full-block);
- assign the properties of the uncertainties to the blocks (bounds, rate-bounds, norm-bounds, sector-bounds, slope-bounds, polytope, delay-time, delay-type, passive, performance metric, etc.);
- combine uncertainty blocks into larger structured ones.
By specifying , one defines an empty uncertainty object. To specify properties, one can proceed in different fashions:
Option | Description |
1 | For the inputs come in pairs and can be specified by
|
2 | The properties can also be set by defining a structure
and subsequently specifying
|
3 | Finally, the properties can be set and retrieved respectively by
and
|