State‐space µ analysis for an experimental drive‐by‐wire vehicle

Abstract

Abstract This paper considers the application of the skewed structured singular value to the robust stability of systems subject to strictly real parametric uncertainty. Three state‐space formulations that counteract the discontinuous nature of this problem are detailed. It is shown that the calculation of the supremum of the structured singular value over a frequency range using these formulations transforms into a single skewed structured singular value calculation. Similar to the structured singular value, the exact calculation of the skewed structured singular value is an NP‐hard problem. In this work, two efficient algorithms that determine upper and lower bounds on the skewed structured singular value are presented. These algorithms are critically assessed using a series of robustness analysis tests on a safety‐critical experimental drive‐by‐wire vehicle. Copyright © 2008 John Wiley & Sons, Ltd.