Abstract
Stability of linear, time-invariant, multi-input multi-output unity-feedback systems is considered under nonlinear, time-varying, stable perturbations. Necessary and sufficient conditions are obtained for stability of the perturbed system and specialized for the case of one arbitrary failure whose location is unknown. Controller design methods are developed ensuring stability under an unknown stable failure of at most one arbitrary sensor or actuator.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">></ETX>
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