Robust Performance
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This chapter focuses on the analysis of robustness of feedback systems. We consider the stability and performance of systems who process dynamics are uncertain and derive fundamental limits for robust stability and performance. We also discuss how to design controllers to achieve robust performance.
Textbook ContentsRobust Performance (pdf, 30Jan08)

Lecture Materials
Supplemental Information

Chapter Summary
Exercises
Frequently Asked Questions
Errata
 Errata: Extraneous text "!design" in Chapter 12
 Errata: Maximum sensitivity occurs at frequency omega ms not omega sc
 Errata: Caption for Figure 12.4 doesn't quite match figure
 Errata: d(P 1, P 2) is the longest chordal distance, not shortest
 Errata: Riemann sphere has radius (not diameter) 1
 Errata: In Example 12.6, n = 1 should be n = 1
 Errata: For Youla parameterization, P = b(s)/a(s) = B(s)/A(s) and C0 = G0(s)/F0(s)
 Errata: In Figure 12.8, the signs of A and B are reversed
 Errata: In equation (12.13) and the displayed equation above it, T should be T
 Errata: In Example 12.8, controller zero is at s = 3.5
 Errata: In Example 12.8, process zero is at s = 2
 Errata: In Example 12.9, poles are at a, p1, p2
 Errata: In equation (12.16), a is not defined and a factor of a is missing in numerator the last term
 Errata: After equation (12.23), generalized error is z, not w