Plant template generation in quantitative feedback theory

The creation of templates for uncertain plants is an essential first step in quantitative feedback theory and other frequency domain methods. For plants with a general uncertain structure, a method to identify crucial interior points in the uncertain parameter set which map to the boundaries of the plant templates is presented. It is shown that the boundaries of the templates are only generated by the edges of the uncertain parameter set and the identified interior points. A computationally tractable procedure for generating the templates is developed and a simple illustrative example is given.