Modern Control Engineering

Section 10–9 / Robust Control Systems 811

K

(f)

w

u

z

y

P

G

w

u

y

K

WmI

(e)

y

z

+

+

(^) m
T
BA
(c)
G
K
(^) m
(d)
y
uB
zw
A

• ++

(^) m
K G
yu
+−
G A B
K
(^) m
(a) (b)
y
u
A

B

Figure 10–43
(a) Block diagram of a system with unstructured multiplicative uncertainty;
(b)–(d) successive modifications of the block diagram of (a);
(e) block diagram showing a generalized plant with unstructured multiplicative uncertainty;
(f) generalized plant diagram.