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How can one accomplish a H∞ tuning of fixed-structure controllers using the command "hinfstruct" for a DISCRETE system.

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In input Arguments description of "hinfstruct" one can see that the input argument CL0 could be continous or discrete
"CL0 can be a continuous-time or discrete-time model. In discrete time, the sample time must be specified (Ts ≠ –1)"
unfortunatly if I use it for discrete system I get this error
"Error using
DynamicSystem/hinfstruct (line
153)
The "hinfstruct" command only
handles continuous-time models
without delays"
could anyone help me ?
I am using MATLAB R2015b

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