Robust performance assessment of feedback control systems
\(\eta\)-functionclosed-loop systemsdual Youla parametergeneralized closed-loop error transfer functiongeneralized stability marginidentificationmeasure of performance variationmodel-based robust performance assessmentmodel-free robust performance monitoringperformance evaluationperformance monitoringperturbed plantpointwise \(\nu\)-gap metricrobust performancerobust stability
The authors propose a measure of performance variation in the frequency domain in terms of the generalized closed-loop error transfer function, which is a special representation of the dual Youla parameter and has a close relationship with the pointwise \(\nu\)-gap metric. This measure is shown to be able to capture all the essential information that reflects the performance variation due to plant perturbation. Also this measure can be used as closed-loop performance monitoring through standard ``open-loop system identification techniques, even without explicitly knowing the plant model. Such a methodology can be considered as using the designed control loop as a user defined benchmark to assess the robust performance of the control system in the frequency domain when the plant is perturbed. Its variant, defined as the \(\eta\)-function, which features the relative performance variation as well as generalized stability margin variation with respect to the nominal plant, is also discussed. The application of the proposed method is illustrated by numerical examples.
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