Abstract
In this paper extremal phase margins of interval systems consisting of interval plants and fixed controllers are analyzed. Algorithm is presented to find the exact extremal phase margins of interval systems. The algorithm is computationally tractable since for a given gain crossover frequency we need only calculate phases of 6 or 4 cases to obtain the minimum or maximum phase at that frequency. The results of this paper turn out to be an alternative proof of the 32 Kharitonov Segment Theorem and can be applied to design controllers for interval systems without conservation.
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