An Efficient Algorithm for Performance Analysis of Nonlinear Control Systems

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J. E. Tierno, R. M. Murray, J. C. Doyle
1995 American Control Conference

A numerical algorithm for computing necessary conditions for performance specifications is developed for nonlinear uncertain systems. The algorithm is similar in nature and behavior to the power algorithm for the mu lower bound, and doesn't rely on a descent method. The algorithm is applied to a practical example.