Robustness with real parametric and structured complex uncertainty

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Abstract
The problem of robust stability and performance in feedback control systems with n real (possibly repeated) uncertain parameters and structured unmodelled dynamics, the latter taking the form of m complex blocks dynamic uncertainties is considered. A robustness margin rm is defined with respect to such model uncertainty structure and an algorithm is developed to compute it. Robust stability and performance is characterized in terms of rm in much the same way as with the Multivariate Stability Margin km or the Structured Singular value μ. An iterative procedure employing the above algorithm is given to compute tight bounds on km and μ. These bounds are exact for the case m ≤ 3.

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