Robust stability analysis for parameter dependent systems using full block S-procedure

In this paper we present an approach to analyze robust stability and robust performance of systems that depend rationally on uncertain parameters on the basis of the so-called full block S-procedure. The use of this tool allows us to derive in a straightforward manner the analysis inequalities for robust stability and robust performance. Furthermore, in the resulting tests we have the flexibility to search for the existence of an affine parameter-dependent or a rational parameter-dependent Lyapunov function