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% HELPLINF Help file for L-inf design using LINF program.
%

% R. Y. Chiang & M. G. Safonov 3/86
% Copyright (c) 1988 by the MathWorks, Inc.
% All Rights Reserved.
% ------------------------------------------------------------------
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disp('                << L-inf OPTIMAL CONTROL SYNTHESIS >>')
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disp('                   R. Y. Chiang & M. G. Safonov')
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disp('             Dept. of Electrical Engineering - Systems')
disp('                 University of Southern California') 
disp('                   Los Angeles, CA. 90089-0781')  
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disp('                           October, 1987')
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disp('                  (ver. 2.0, all rights reserved)')
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disp('                     (strike a key to continue ...)') 
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disp('        THE LINF COMPUTER PROGRAM IS DIVIDED INTO 3 PHASES:')
disp('  ---------------------------------------------------------------------')
disp('    Phase I:   Plant Augmemtation')
disp('               (see M-files: AUGTF.M AUGSS.M)')
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disp('    Phase II:  Youla Parametrization (see script file YOULA.M)')
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disp('    Phase III: Interpolation Problem (see script file HKL1,2,3,4.M)')
disp('  ---------------------------------------------------------------------')
disp('    Remark 1: Inaccuate results may occur if the model reduction')
disp('              routines are not used properly. The follwing methods')
disp('              can improve the situation drastically:')
disp('              1). reset "tol" for a smaller reduced order model')
disp('                  (default: "tol" = 0.01), or')
disp('              2). set "MRtype = 3" to have a closer look of Hankel SV.')
disp('    Remark 2: The final controller can be reduced to (n-1) states')
disp('              using Moore balanced realization, which will confirm')
disp('              with Limebeer theoretical results.')
disp('   --------------------------------------------------------------------')
disp('               GOOD LUCK WITH YOUR L-INF DESIGN !!')
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