Robustness margin calculation with dynamic and real parametric uncertainty

The problem of robust stability in feedback control systems with real uncertain parameters and unmodeled dynamics is considered. A robust margin r_m is defined, and an algorithm to calculate r_m and the closely related multivariable stability margin k_m is developed. How robust performance for real parametric uncertainty can be handled in this framework is also shown. The result essentially provides a method to check whether or not the infinity norm of a closed-loop transfer matrix is less than a specified level over a bounded set of real parametric variations