A Popov criterion for uncertain linear multivariable systems
A simplified proof of the multivariable Popov criterion is given for the case of one-sided, sector-bounded real parameter uncertainty. Whereas the Popov criterion is traditionally proved using a Lyapunov function and the positive real lemma, here the proof is based upon frequency-domain arguments. A loop-shifting transformation is used to express the Popov criterion in terms of two-sided, sector-bounded uncertain matrices. Using the Popov criterion, an upper bound for the structured singular value with real parameter uncertainty is given.
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