Modern Control Engineering

Example Problems and Solutions 853

G

w

u

K

WaI

y

z

−

+

K

(f)

(e)

w

u

z

y

P

G

K

(^) a
(d)
u
zw
−+
(^) a
Ta
BA
(c)
G
K
(^) a
(a)
u y
A

• ++

B

(^) a
K
G
yu

• −
  A B
  (b)
  Figure 10–57
  (a) Block diagram of a system with unstructured additive uncertainty;
  (b)–(d) successive modifications of the block diagram of (a);
  (e) block diagram showing a generalized plant with unstructured additive uncertainty;
  (f) generalized plant diagram.