Frequency Response Bound Determination Using a Kharitonov and Algorithmic Framework

This paper uses Kharitonov stability theory and the theory of algorithms to efficiently compute frequency response bounds for control system design. We limit the analysis to the simple case of a plant transfer function with denominator uncertainty to gain insight into the determination of tracking, robust stability, and actuator bounds. A coordinate transformation allows us to reduce the computational time for the problem. We divide the compensator plane into separate regions with each region sharing the critical points of a value set needed in the computation of frequency response bounds. Our analysis demonstrates the importance of estimating asymptotic bounds on computational time as is standard in algorithmic analysis. We apply our algorithms to a twosimple examples. I