Nyquist/Bode design for multivariable systems with parametric uncertainty

The most widely used general control design method for applications is the classical Nyquist/Bode methodology. In order to handle more difficult problems than the single-input, single-output (SISO) systems for which the classical techniques are ideal, some extensions to the methodology are required. Individual channel analysis and design (ICAD) provides one such extension, enabling multivariable systems to be analysed using techniques familiar to practising engineers. A toolbox exists for ICAD which incorporates the required elements of control system analysis. A further useful extension to the existing Nyquist/Bode methodology would be to directly and explicitly cater for quantitative plant uncertainty