In this chapter, st ability and performance for multivariable systems with uncertainty will be considered. Consider a general multivariable system as depicted in Figure 5.1. All signals will in general be vectors, and G() and K(s) will be transfer matrices. d(s) is an output distur- bance signal and n() represents
There are two main limit ations in the use of Hoo theory for compensator design. First, only full complex perturb ations() Cnm can be treated in a non-conservative way in an Ho robust st ability test. Second, robust performance can only be handled in a conservative way even for full complex perturbations since st ability and performance can not be separated in the Hoo structure
