Plz be so kind and look at the following link into the documentation
of the mixed sensitivity
function of matlab robust control toolbox.
http://www.mathworks.com/access/helpdesk/help/toolbox/robust/index.html?/access/helpdesk/help/toolbox/robust/mixsyn.html&http://www.mathworks.com/cgi-bin/texis/webinator/search /

In this doc a example is listet:

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

In this doc a example is listet:

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