S.Skogestad and I.Postlethwaite, Multivariable feedback control , Wiley 1996, 572 pages.

MATLAB files for the book

There are available MATLAB files for most of the examples given in the book, as well as a number of files used to generate figures and tables.

Note that you need the Mu-toolbox to run many of these files - you can also do the same things with the Robust control toolbox and the Control toolbox, but the files will then have to be rewritten.

It is recommended that you run MATLAB in one window and have the m-file in another window, and transfer text using the mouse.

The MATLAB source files (more than 100) can be transferred one by one to your computer using your browser, or you can transfer all the files to your local machines by transferring the file matlab_book.tar.gz (unix) or matlab_book.zip (PC). Afterwards you "unpack" the files by writing: 

   gunzip -c matlab_book.tar.gz | tar xvf -
Note that the following utility files are included:
delay.m pade.m fod.m fod_f.m
align.m condmin.m condmini.m condmino.m
skrpmu.m ncopfac.m hinf2dof.m coprimeunc.m
rga.m vrga.m
ozde.m izde.m opde.m ipde.m

The latter four routines for zero and pole vectors avoid the change in ordering of eigenvalues that may occur if the input and output vectors are computed separately.

Also included: cola_commands.m - Collection of useful commands for MIMO controllability analysis (poles/zeros and their directions, RGA, CLDG, PRGA, singular values, etc.)

Table of contents for source files

Here is the list of MATLAB source files with reference to figures and examples in the book (with page numbers): Please note that there is a detailed documentation of the 82-state distillation model (linear and nonlinaer model), which is described in Section 12.4 in the book.

Table of contents for files listed in book

Some MATLAB files are also listed in the book (most of these are also available as source files). Since the index for MATLAB in the book is a bit incomplete, we here give where MATLAB files are listed in the book: 
p. 36: Simulation of 2nd order system and compute H-infinity norms of S and T
p. 60: Program to synthesize H-infinity controller (weighted sensitivity)
p. 100: Generate interconnection matrix P
p. 119: Generate a normalized coprime factorization
p. 157: Compute H2, H-infinity and Hankel norm
p. 331: Program for mu-analysis of NP, RS and RP
p. 339: Program for DK-iteration (mu-symthesis)
p. 358: Program to generate LQG controller
p. 379: Program to generate H-infinity controller (Make robust wrt. coprime uncertainty for use in Glover-McFarlane loop-shaping procedure)
p. 389: Program for H-infinity 2-DOF controller (coprime uncertainty loopshaping
p. 466: Commands for model reduction
p. 491: Generate various configurations for distillation
p. 513: Compure RGA
p. 521: Compute various vector and matrix norms
Other control books which use MATLAB