5 Robustness Analysis for Multi ble Systems 5. 1 Nominal perfo 44 5. 1.1 Norms of Signals for Multivariable Sy stem 45 5.1 5.2 Robust Stability 5. 2.1 The Sm all Gain Theorem 5.3 Robust performan 5.3. 1 Specifications with Mixed Sensitivity Functions 5.3.2 The Significance of Zeros and Poles in the Right Half Plane Robust Design for Multivariable Systems 6.1 Loop Shaping 6.2 Mo deling Individual Channels 6.3 H Control 6.3. 1 Remarks to the Hoo solution 6.3.2 The MAtLaB Toolboxes 7 7 Design of Robust Comp ensat ors based on A Theory 7.1 7.1.1 Robust Stability 7.1 7. 1.3 Computing p esIs 7.2.1 omplex u Sy nthesis - D-K iter ation￾
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