Abstract
In this paper, by applying the small gain theorem that concerns L2 gain in regards to a nonlinear subsystem with free parameter q ≥ 0, a stability condition for control systems with time-invariant nonlinearity (equivalent to Popov's criterion) is presented.Using this concept, a robust stability condition in a gain-phase diagram for an open loop system (modified contour M) which corresponds to the Nichols chart is proposed.The stability margin is discussed in regards to the gain margin of a nominal system.This type of gain-phase diagram may be used in the design of a robust control system.
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