The calculation of /spl mu/-sensitivities

In this paper, we examine a robustness tool called the /spl mu/-sensitivities introduced by Braatz-Morari (1991). Given a closed loop system, the /spl mu/-sensitivities indicate how the structured singular value /spl mu/ decreases as the uncertainty in the system decreases. Using the upper bound to /spl mu/ as our performance, we derive a numerically stable and computationally efficient method to calculate these sensitivities. A nontrivial example shows that this new computational method makes the /spl mu/-sensitivities a viable tool for system analysis.