Mathworks ROBUST CONTROL TOOLBOX RELEASE NOTES

Robust Control Toolbox™
Release Notes

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Robust Control Toolbox™ Release Notes

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The software described in this document is furnished under a license agreement. The software may be used
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Summary by Version ............................... 1

Version 3.4.1 (R2010a) R obust Control Toolbox

Software

Version 3.4 (R2009b) Robust Control Toolbox

Software

Version 3.3.3 (R2009a) R obust Control Toolbox

Software

Version 3.3.2 (R2008b) Robust Control Toolbox

Software

Version 3.3.1 (R2008a) R obust Control Toolbox

Software

........................................ 4

........................................ 5

........................................ 9

........................................ 10

........................................ 11

Contents

Version 3.3 (R2007b) Robust Control Toolbox

Software

Version 3.2 (R2007a) Robust Control Toolbox

Software

Version 3.1.1 (R2006b) Robust Control Toolbox

Software

Version 3.1 (R2006a) Robust Control Toolbox

Software

Version 3.0.2 (R14SP3) R obust Control Toolbox

Software

Version 3.0.1 (R14SP2) R obust Control Toolbox

Software

........................................ 12

........................................ 13

........................................ 14

........................................ 15

........................................ 16

........................................ 17

iii

Compatibility Summary for Robust Control Toolbox

Software

........................................ 18

iv Contents

SummarybyVersion

This table provides quick access to what’s new in each version. For
clarification, see “Using Release Notes” on page 2 .

Robust Control Toolbox™ Release Notes

Version
(Release)

Latest Versi
V3.4.1 (R201

V3.4 (R2009b)

V3.3.3 (R2009a)

V3.3.2(

V3.3.1 (R2008a)

V3.3 (R2007b)

V3.2 (R2007a)

.1 (R2006b)

V3.1

on
0a)

R2008b)

New Features
and Changes

No No Bug Reports

Yes
Details

No No Bug Repor

No No Bug Reports

Yes
Details

No No

Yes

ls

Detai

Yes
Details

Version
Compatibilit
Consideratio

Yes
Summary

No

No

No

y

ns

Fixed Bugs
and Known
Problems

Includes fix

Bug Reports
Includes fixes

Includes

Includes fixes

No bug fixes

No bug fixes

No bug fixes

No bu

fixes

gfixes

ts

es

Related
Documentation
at Web Site

Printable R elease
Notes: PDF

Current product
documentation

No

No

No

No

No

No

No

V3.1 (R2006a)

V3.0.2
(R14SP3)

.0.1

V3

14SP2)

(R

No No

No No

Ye
De

s

tails

No

No bug fixes

No bug fixes

No bug fixes

No

No

No

1

Robust Control Toolbox™ Release Notes

Using Release No

Use release note

• New features

• Changes

• Potential imp

Review the re
product (for
bugs, or comp

If you are up
review the c
you upgrad

What Is in t

New Featu

• New func

• Changes

s when upgrading to a new er version to learn about:

act o n your existing files and practices

lease notes for other M athWorks™ products required for this

example, MATLAB

atibility considerations in other products impact you.

grading from a softw are version other than the most recent one,

urrent release notes and all interim versions. For example, when

e from V1.0 to V1.2, review the release notes for V1.1 and V1.2.

he Release Notes

res and Changes

tionality

to existing functionality

tes

®

or Simulink®). Determine if enhancements,

Versio

When a n
versi
impac

Comp
Repo
in in
comp

Fix

The
vi

n Compatibility Considerations

ew feature or change introduces a reported incompatibil ity between

ons, the Compatibility Considerations subsection explains the

t.

atibility issues reported after the product release appear under Bug
rts at The MathWorks™ Web site. Bug fixes can sometimes result
compatibilities, so review the fixed bugs in Bug Reports for any

atibility impact.

ed Bugs and Known Problems

MathWorks offers a user-searchable Bug Reports database so you can

ew Bug Reports. The development team updates this database at release

2

SummarybyVersion

time and as more information becomes available. Bug Reports include
provisions for any known workarounds or file replacem ents. Information is
available for bugs existing in or fixed in Release 14SP2 or later. Information
is not avail able for all bugs in earlier releases.

Access Bug Reports using y our MathWorks Account.

3

Robust Control Toolbox™ Release Notes

Version 3.4.1 (R2010a) Robust Control Toolbox Software

This table summarizes what’s new in Version 3.4.1 (R2010a):

New Features
and Changes

No No Bug Reports

Version
Compatibility
Considerations

Fixed Bugs
and Known
Problems

Includes fixes

Related
Documentation
at Web Site

Printable
Release Notes:
PDF

Current product
documentation

4

Version 3.4 (R2009b) Robust Control Toolbox™ Software

Version 3.4 (R2009b) Robust Control Toolbox Software

This table summarizes what’s new in Version 3.4 (R2009b):

New Features and
Changes

Yes
Details below

Version
Compatibility
Considerations

Yes
Summary

New features and changes introduced in this version are described here:

• “New Option to Improve R obust Performance by Accounting for Real

Uncertain Parameters” on page 5

• “New Command to Linearize Simulink Models with Uncertainty” on page 5

• “New Interface for Simulating Effects of Uncertainty in Simulink Models”

on page 6

• “New Command to Model Multiple LTI Responses as One Uncertain

System” on page 6

• “New and Updated Demos” on page 6

• “Functions, Properties and Blocks Being Removed” on page 7

Fixed Bugs an d
Known Problems

Bug Reports
Includes fixes

Related
Documentation at
Web Site

No

New Option to Improve Robust Performance by
Accounting for Real Uncertain Parameters

You can now improve robust performance by accounting for real uncertain
parameters when designing controllers using µ-synthesis. The user-defined
options y ou use in the
Set this option to
system. For more information, see the

dksyn command now includes a new option MixedMU.

'on' to account for real uncertain parameters in your

dkitopt,anddksyn reference pages.

New Command to Linearize Simulink Models with
Uncertainty

If you have Simulink®Control Design™ software installed, you can take
model uncertainty into account when linearizing a Simulink mode l. You can

5

Robust Control Toolbox™ Release Notes

then use the resulting uncertain linearized model (uss object) to perform
linear analysis and robust control design.

If your model already contains Uncertain State Space blocks, use the new

ulinearize command to obtain an uss model. Ifyouwanttoaccountfor

uncertainty in your linear analysis without using Uncertain State Space
blocks, you can specify individual Simulink blocks to linearize to an uncertain
variable. For more information, see "Computing Uncertain State-Space
Models from Simulink Models" in the Robust Control Toolbox User’s Guide.

New Interface for Simulating Effects of Uncer tainty
in Simulink Models

This version of the product provides a new interface to simulate the effects of
uncertainty in Simulink models. The interface includes the following:

• Uncertain State Space block to specify uncertain system in Simulink.

You should re place USS System blocks in your existing models with the
Uncertain State Space block. To do so, run the
your models.

slupdate command on

•

ufind command to extract all uncertain variables from a Simulink model.

usample command to generate random values of these uncertain variables.

•

For more information on simulating the effects of uncertainty using the new
interface, see "Simulating Effects of Uncertainty" in the Robust Control
Toolbox User’s Guide.

New Command to Model Multiple LTI Responses as
One Uncertain System

This version of the product includes a new ucover command that lets
you model a family of LTI responses as one uncertain system. For more
information, see the

ucover reference page.

New and Updated Demos

The following new and updated demos illustrate use of the new features:

6

Version 3.4 (R2009b) Robust Control Toolbox™ Software

• "Control of Spring-Mass-Damper UsingMixedmu-Synthesis"showsuseof

the new

MixedMU option and dksyn command for mixed-mu synthesis.

• "Linearization of Simulink Models with Uncertainty" shows how to

compute uncertain state-space models using

ulinearize and Simulink

Control Design software.

• "Robustness Analysis in Simulink" uses the new interface for simulating

effects of uncertainty in Simulink models.

• "Simultaneous Stabilization Using Robust Control" and "Modeling a Family

of Respon ses as an Uncertain System" show use of the

ucover command.

Function,
Property or
Block Name

usiminfo

usimfill

usimsamp

• "First-Cut Robust Design" shows use of the

usample, ucover and dksyn

commands.

To access the demos, type

demo('toolbox','robust control')

Functions, Properties andBlocksBeingRemoved

What Happens When
You Use Function or
Property? Use This Instead

Still runs

Still runs

Still runs

ufind

ufind

usample

Compatibility
Considerations

See “New Interface for
Simulating Effects of
Uncertainty in Simulink
Models” on page 6.

See “New Interface for
Simulating Effects of
Uncertainty in Simulink
Models” on page 6.

See “New Interface for
Simulating Effects of
Uncertainty in Simulink
Models” on page 6.

7

Robust Control Toolbox™ Release Notes

Function,
Property or
Block Name

USS System
block

ltiarray2uss

What Happens When
You Use Function or
Property? Use This Instead

Still runs Uncertain State

Space block

Still runs

ucover

Compatibility
Considerations

See “New Interface for
Simulating Effects of
Uncertainty in Simulink
Models” on page 6.

See “New Command to Model
Multiple LTI Responses as One
Uncertain System” on page 6.

8

Version 3.3.3 (R2009a) Robust Control Toolbox™ Software

Version 3.3.3 (R2009a) Robust Control Toolbox Software

This table summarizes what’s new in Version 3.3.3 (R2009a):

New Features
and Changes

No No Bug Reports

Version
Compatibility
Considerations

Fixed Bugs
and Known
Problems

Includes fixes

Related
Documentation
at Web Site

No

9

Robust Control Toolbox™ Release Notes

Version 3.3.2 (R2008b) Robust Control Toolbox Software

This table summarizes what’s new in Version 3.3.2 (R2008b):

New Features
and Changes

No No Bug Reports

Version
Compatibility
Considerations

Fixed Bugs
and Known
Problems

Includes fixes

Related
Documentation
at Web Site

No

10

Version 3.3.1 (R2008a) Robust Control Toolbox™ Software

Version 3.3.1 (R2008a) Robust Control Toolbox Software

This table summarizes what’s new in Version 3.3.1 (R2008a):

New Features
and Changes

Yes
Details below

New features and changes introduced in this version are described here.

Version
Compatibility
Considerations

No

Fixed Bugs
and Known
Problems

No bug fixes

Related
Documentation
at Web Site

No

Ability to Use LOOPMARGIN with Simulink

This version of Robust Control Toolbox™ software lets you analyze the
robustness of nonlinear Simulink models using the LOOPMARGIN command.

If you have the Simulink Control Design product installed, you can perform
stability margin analysis of a Simulink model by passing the model name and
a point within that model to the LOOPMARGIN command.

11

Robust Control Toolbox™ Release Notes

Version 3.3 (R2007b) Robust Control Toolbox Software

This table summarizes what’s new in Version 3.3 (R2007b):

New Features
and Changes

No No

Version
Compatibility
Considerations

Fixed Bugs
and Known
Problems

No bug fixes

Related
Documentation
at Web Site

No

12

Version 3.2 (R2007a) Robust Control Toolbox™ Software

Version 3.2 (R2007a) Robust Control Toolbox Software

This table summarizes what’s new in Version 3.2 (R2007a):

New Features
and Changes

Yes
Details below

New features and changes introduced in this version are described here.

Version
Compatibility
Considerations

No

Fixed Bugs
and Known
Problems

No bug fixes

Related
Documentation
at Web Site

No

New Simulink B locks

• USS System — This Robust Control Toolbox version introduces a new

Simulink block, USS System. You can use this block to import uncertain
systems into Simulink models.

• Multiplot Graph — Plot multiple signals in one figure.

13

Robust Control Toolbox™ Release Notes

Version 3.1.1 (R2006b) Robust Control Toolbox Software

This table summarizes what’s new in Version 3.1.1 (R2006b):

New Features
and Changes

Yes
Details below

Version
Compatibility
Considerations

No

Fixed Bugs
and Known
Problems

No bug fixes

Related
Documentation
at Web Site

No

New Function ltiarray2uss

This Robust Control Toolbox version introduces a new function, ltiarray2uss.
This function constructs an uncertain state-space model from an LTI array.

14

Version 3.1 (R2006a) Robust Control Toolbox™ Software

Version 3.1 (R2006a) Robust Control Toolbox Software

This table summarizes what’s new in Version 3.1 (R2006a):

New Features
and Changes

No No

Version
Compatibility
Considerations

Fixed Bugs
and Known
Problems

No bug fixes

Related
Documentation
at Web Site

No

15

Robust Control Toolbox™ Release Notes

Version 3.0.2 (R14SP3) Robust Control Toolbox Software

This table summarizes what’s new in Version 3.0.2 (R14SP3):

New Features
and Changes

No No

Version
Compatibility
Considerations

Fixed Bugs
and Known
Problems

No bug fixes

Related
Documentation
at Web Site

No

16

Version 3.0.1 (R14SP2) Robust Control Toolbox™ Software

Version 3.0.1 (R14SP2) Robust Control Toolbox Software

This table summarizes what’s new in Version 3.0.1 (R14SP2):

New Features
and Changes

Yes
Details below

New features and changes introduced in this version are described here:

Version
Compatibility
Considerations

No

Fixed Bugs
and Known
Problems

No bug fixes

Related
Documentation
at Web Site

No

mussvunwrap Is Renamed

mussvunwrap has been renamed. It is now called mussvextract.

New Functions actual2normalized and
normalized2actual

This Robust Control Toolbox version introduced two new functions:

•

actual2normalized — Calculate normalized distance between nominal

value and given value for uncertain atom.

•

normalized2actual — Convert value for atom in normalized coordinates

to corresponding actual value.

17

Robust Control Toolbox™ Release Notes

Compatibility Summary for Robust Control Toolbox
Software

This table summarizes new features and changes that might cause
incompatibilities when you upgrade from an earlier version, or wh en you
use files on multiple versions. Details are provided with the description of
the new feature or change.

Version (Release) New Features and Changes with

Version Compatib ility Impact

Latest Version
V3.4.1 (R2010a)

V3.4
(R2009b)

V3.3.3
(R2009a)

V3.3.2
(R2008b)

V3.3.1
(R2008a)

V3.3
(R2007b)

V3.2
(R2007a)

V3.1.1
(R2006b)

V3.1
(R2006a)

V3.0.2
(R14SP3)

None

See “Functions, Properties and
Blocks Being Removed” on page 7.

None

None

None

None

None

None

None

None

18

V3.0.1
(R14SP2)

None