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From: Jaap on 29 Jul 2010 03:41
The problem is that your plant contains a pure integrator. The algorithm of hinfsyn is unable to synthesize a controller for such plants.
To be able to synthesize a controller you should shift all poles of your state space model a little bit to the left half plane (about 1e-3), synthesize the controller for this plant.
To control the original plant with the controller based on the shifted poles plant, you should shift the poles of the controller back.
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