Unmodelled dynamics: Gtrue(s=(1+L(s)Gnom(s) Show typical Bode diagram here Insensitivity to unmodelled dynamics requires Fundamental equality that requires trade between tracking and 2Unmodelled dynamics: Gtrue(s) = (1 + L(s))Gnom(s) Show typical Bode diagram here Insensitivity to unmodelled dynamics requires: Fundamental equality that requires trade between tracking and insensitivity | + | = 1 2