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The Popov absolute stability criterion is traditionally proved using a Lyapunov function and the positive real lemma. In this paper a simplified proof of the multivariable Popov criterion is given for the case of one-sided, sector-bounded real parameter uncertainty. A loop-shifting transformation...
We consider the problem of robustness optimization in the gap metric for MIMO systems with a scalar time delay. We present an algorithm for the parametrization of all suboptimal controllers. In our algorithm the AAK theory plays the central role. Using this approach, suboptimal controllers can be...