The complex structured singular value

A tutorial introduction to the complex structured singular value (mu) is presented, with an emphasis on the mathematical aspects of mu. The mu-based methods discussed here have been useful for analyzing the performance and robustness properties of linear feedback systems. Several tests for robust stability and performance with computable bounds for transfer functions and their state space realizations are compared, and a simple synthesis problem is studied. Uncertain systems are represented using linear fractional transformations which naturally unify the frequency-domain and state space methods.