Automatica, Vol.32, No.10, 1447-1453, 1996
Robustness Bounds for Systems with Parametric Uncertainty
This paper focuses on analysis of the robustness of full state feedback controlled systems with parametric uncertainties. Both the ability to remain stable and to maintain a prescribed level of performance are assessed. Robustness bounds are developed for a given closed-loop system; these describe the largest magnitude of uncertainty for which the system can both be guaranteed to remain stable and to satisfy a given performance criterion. Furthermore, a maximal robustness bound is developed for a given system that is independent of the choice of controller, but guarantees that for admissible uncertainties, a controller can be found that will satisfy stability and performance criteria. This robustness analysis technique enables the trade-off between performance and robustness to be quantitatively assessed.