Plz be so kind and look at the following link into the documentation of the mixed sensitivity function of matlab robust control toolbox.
s=zpk('s'); G=(s-1)/(s+1)^2;
W1=0.1*(s+100)/(100*s+1); W2=0.1;
[K,CL,GAM]=mixsyn(G,W1,W2,[]); L=G*K; S=inv(1+L); T=1-S;sigma(S,'g',T,'r',GAM/W1,'g-.',GAM*G/ss(W2),'r-.')
My question is: They build two weighting functions W1 and W2. W1 weights the sensitivity and W2 weights the regulator function R(s) = K(s)(I + K(s)G(s))^-1. I don't understand the plot/last line. Why do the plot "GAM*G/W2", cause this weighting function isn't for complementary sensitivity? Is it a bug in docs or do i have a really understanding problem of the mixed sensitivity algorithm?
greetings Hugo