Robustness with simultaneous pole and zero movement across the j\(\omega\)- axis (Q1061665)

The following three kinds of robustness tests are presented: (a) a direct Nyquist based test, (b) an inverse Nyquist based test, and (c) a combined direct and inverse Nyquist based test. The above tests offer a wider scope of application than those previously described in the literature. The first test is applicable when the plant and perturbed plant models have the same number of poles in the direct Nyquist D-Contour. The second test is applicable when the plant and perturbed plant models have the same number of zeros in the inverse Nyquist D-Contour. The third test is the main contribution of the paper and can be used to assess closed-loop stability when the nominal plant model and perturbed plant model have different numbers of poles and zeros in the right-half plane. This test conveys useful information for design and indicates over which frequencies good sensitivity and robust stability are compatible objectives and over which frequencies a compromise has to be made. The authors are to be commended for a very interesting paper. The paper is well organized and written and highly suggested to those involved in the same area.