Structured singular value approach for systems with parametric uncertainty

This paper provides a tutorial introduction and overview of analysis and de sign techniques For systems with both parametric uncertainty and unmodelled dynamics, using the structured singular value, or mu, family of techniques . This includes the analysis/design framework, stability and performance pr oblems, frequency sweeps and state-space tests, continuous-time and discret e-time systems, and computational issues and methods for both analysis and design. The paper also includes connections between the structured singular value and polynomial approaches to handling parametric uncertainty, as wel l as several examples which illustrate how to cast typical(including polyno mial) problems into the mu framework. Copyright (C) 2001 John Wiley & Sons, Ltd.