A Hierarchical Data Structure and New Capabilities of the Robust-Control Toolbox

The Robust-Control Toolbox is a collection of "M-files" which extend the capability of PC/PRO-MATLAB to do modern multivariable robust control system design. Included are Robust Analvvsis tools like singular value and SSV (structured singular value), Robust Synthesis tools like continuous/discrete LQG/LTR, H²/H^¿ and MU-Sythesis, and a variety of Robust Model Reduction tools such as optimal Hankel approximation, balanced truncation and balanced stochastic truncation, etc. In this paper, we will describe the basic functions with practical examples and introduce recent developments of the toolbox. These include the new "MU-Synthesis" tool with demonstrations, and most of all a new hierarchical data structure which permits data deseribing system and collection of system to be incorporated in, and extracted from a single MATLAB variable called a TREE. This data structure facilitates user interaction with many MATLAB functions which operate on systems.