A Hierarchical DataStructure andNew Capabilities oftheRobust-Control Toolbox *

TheRobut-Contol Toolbor isacollection of"M-files" which extend thecpability ofPC/PRO-MATLAB todomodern multivriabLerobat cotosystem desigt Incldedarel&WLAa iaba tools likeignulr value andSSV(structured singlr value), RobutSynthesis tools lkecontinuous/discret LQG/LTR, H2/Htm and S e , andavwiety ofRobutModelReduction tools suckh- optimal Radii-pxatiom, baleduncation andbalancedic trunao,etc. Inthis paper, wewIdescribe thebasic functions withpracticalexamples uadintrodue rectdvme ofthetoolbox. Theseincude thenewMU-Synthe toolwithdemonstrations, andmostofatanew datastructure which permits data dsibn system andcoletion ofsystem tobe incorporsated in, sade om,asin MATLABvaiable called aTREE.Thisdatastructur f userinteraction withmanyMATLABfunctions whihoperate onsystems.