Model perturbation of closed-loop gain shaping algorithm

In order to express the format of model perturbation for closed-loop gain shaping algorithm,a deduction was given based on the small gain theory and H mixed sensitivity algorithm.It follows that the format of model perturbation for closed-loop gain shaping algorithm is the same as that of the sensitivity function.It is of instructive significance to the design of robust controller when the closed-loop gain shaping algorithm is used to decide the magnitude of the model perturbation.The closed-loop gain shaping algorithm has the advantages of simple design procedure and obvious physical sense.