Parametric uncertainty modelling and real and complex structured singular value computation applied to an electro-mechanical system

The investigation of closed-loop systems subject to model perturbations is an important issue in order to assume stability robustness of a control design. A large variety of model perturbations can be described by norm-bounded uncertainty models. In this paper a general approach for modelling structured complex and real-valued parametric perturbations is presented. The resulting robustness analysis problem is solved nonconservatively using real and complex structured singular value calculations. The uncertainty modelling and the robustness analysis are shown for a high-accuracy 5D electromechanical positioning device to be used in optical recording