Toward a theory of robust compensation for systems with unknown parasitics

The problem of designing a robust compensator based on a plant model with order uncertainty is considered. The uncertainty is characterized mathematically as a class of generalized singular perturbations of the plant. The case of static compensation is examined. A necessary and sufficient condition is established under which actual closed-loop behavior is close to that predicted by the plant model under sufficiently small singular perturbations. The condition is shown to be generic