Robust Performance
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[[Image:{{{Short name}}}-firstpage.png|right|thumb|link=https:www.cds.caltech.edu/~murray/books/AM08/pdf/fbs-{{{Short name}}}_24Jul2020.pdf]] This chapter focuses on the analysis of robustness of feedback systems, a vast topic for which we provide only an introduction to some of the key concepts. We consider the stability and performance of systems whose process dynamics are un- certain. We make use of generalizations of Nyquist’s stability criterion as a mech- anism to characterize robust stability and performance. To do this we develop ways to describe uncertainty, both in the form of parameter variations and in the form of neglected dynamics. We also briefly mention some methods for designing controllers to achieve robust performance.