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The Nyquist robust sensitivity margin for uncertain closed-loop systems
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DOI：10.1002/rnc.1013.png)
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The Nyquist robust sensitivity margin is proposed as a new scalar indicator of robust stability that also provides a meaningful quantitative assessment of the worst sensitivity realized by the uncertain closed loop. After formulating and discussing in detail the underlying optimization problem required for the calculation of the margin, the approach is applied to the characterization of the robust stability of a closed-loop featuring a linear system with an affine uncertainty structure and a parametric uncertainty set described by a real rectangular polytope. The capabilities of the methodology are illustrated through examples, which include an approach for quantifying alternative robustness margins, such as a parametric stability margin. The computational algorithm is systematic and can be carried out with high numerical precision. Copyright (c) 2005 John Wiley & Sons, Ltd.
Keyword:
robust control
robust performance
robust sensitivity
real affine uncertainty structure
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