Sensitivity Analysis of Discrete MIMO Systems Using singular Values

Singular Value를 이용한 이산계 다중입출력 시스템의 Sensitivity분석

Singular values and their gradients have been used to analyze the stability and sensitivity of continuous multiloop systems. But this method has been limited to the discrete systems. This method is extended in this paper to analyze discrete systems directly in discrete domain. To do this, derived is the relationship in the disrete system between the stability margins and the minimum singular value of the return differene matrix, and also implemented is a method which computes singular value gradients. This method is applied to the lateralattitude control loop of a remotely piloted vehide both in continuous case and discrete case for verification of its utility.