Contents
1 Introduction 1
1.1 Notation..................................... 1
1.2 Manual Outline . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
1.3 How toavoid really readingthis Manual . . . . . . . . . . . . . . . . . . . 3
2 Overview of the Underlying Theory 5
2.1 Introduction................................... 5
2.1.1 Notation................................. 6
2.1.2 AnIntroductiontoNorms....................... 8
2.2 Modeling UncertainSystems . . . . . . . . . . . . . . . . . . . . . . . . . 13
2.2.1 Perturbation Modelsfor Robust Control. . . . . . . . . . . . . . . 13
2.2.2 Linear FractionalTransformations . . . . . . . . . . . . . . . . . . 17
2.2.3 Assumptions on P,∆,andtheunknownsignals .......... 22
2.2.4 Additional Perturbation Structures. . . . . . . . . . . . . . . . . . 23
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