An improved version of the RBode plot

This paper presents an improved version of the Robust Bode (RBode) plot, in which a robust performance criterion is explicitly translated into allowable and forbidden regions on the open-loop Bode plot of a compensated SISO system. With the RBode plot robust controllers can be directly synthesized with classical loop shaping. The design concept is to shape the open-loop response to avoid entering the forbidden regions on magnitude and phase subplots defined by the boundary functions. The paper provides a clearer derivation of the RBode plot and emphasizes the fact that the weighting functions of the robust performance criterion need not be transfer functions. The improved RBode plot is applied to the design of the controller for an Lateral Tape Motion compensation system.