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// Copyright INRIA
mode(1)
s=poly(0,'s');
//MAC-FARLANE PROBLEM for G=1/s^3;
[P,r]=macglov(1/s^3);clean(P)
//Optimal controller K:
halt()
//K Optimal controller , ro = gamaopt^-2;
[K,ro]=h_inf(P,r,0,1,30);
K,gamaopt=1/sqrt(ro)
// Check internal stability:
halt()
Tzw=lft(tf2ss(P),tf2ss(K));
[Acl,Bcl,Ccl,Dcl]=abcd(Tzw); spec(Acl)
//Optimal gain:
halt()
ga=h_norm(Tzw)
//Compare with gamaopt
ga-gamaopt
//Compare with theory
halt()
[N,M]=lcf(tf2ss(1/s^3)); //Left coprime factorization of G.
nk=hankelsv([N,M]);
ro-( 1-nk(1) )
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