Robustness Analysis for Real and Complex Perturbations applied to an Electro-Mechanical System

The investigation of closed-loop systems subject to model perturbations is an important issue in order to assure 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 modeling structured complex and real-valued parametric perturbations is presented. The resulting robustness analysis problem is solved non-conservatively using real and complex structured singular value calculations. The uncertainty modeling and the robustness analysis are shown for a high-accuracy 5D electro-mechanical positioning device.