Parameter Variation for Dynamic System Performance
IFAC Proceedings Volumes
The paper promotes the use of special eigenvalue plots for providing a geometric perspective in control analysis and design. It is shown that the proposed eigenvalue plots are related to the classic root sensitivity function, a normalized measure of parameter variation effects on the closed-loop eigenvalues. Following the analytical development, an example demonstrating a position-actuated gantry robot with link compliance is analyzed. The effects of system parameters on the closed-loop performance are investigated using the proposed eigenvalue plots and resulting sensitivity plots.
Lund, Laura; Nagurka, Mark L.; and Kurfess, Thomas R., "Parameter Variation for Dynamic System Performance" (1992). Mechanical Engineering Faculty Research and Publications. 182.