Stochastic Stability and Performance Robustness of Linear Multivariable Systems

Abstract

Stochastic robustness, a simple technique used to estimate the robustness of linear, time-invariant systems, is applied to a single-link robot arm control system. Concepts behind stochastic stability robustness are extended to systems with estimators and to stochastic performance robustness. Stochastic performance robustness measures based on classical design specifications are introduced, and the relationship between stochastic robustness measures and control system design parameters is discussed. The application of stochastic performance robustness, and the relationship between performance objectives and design parameters are demonstrated by means of the example. The results prove stochastic robustness to be a good overall robustness analysis method that can relate robustness characteristics to control system design parameters.