Sensitivity Analysis of Uniform Control Systems

Uniform control systems, that is multivariable control systems with identical transfer functions of separate channels and rigid cross-connections, are widespread in modern industry and technology, including such fields as mechatronics and robotics, electrical and aerospace engineering, chemical and power industry, and many others. In the paper, a sensitivity analysis of uniform control systems to small variations of parameters is given from the perspective of the characteristic transfer functions (CTFs) method. The formulas are derived determining the sensitivity functions of the CTFs and the canonical basis axes to small variations of parameters of uniform systems. The relations between the sensitivity functions of the open-loop and closed-loop uniform control systems are established. An illustrative example is considered concerning the sensitivity of control systems of multirotor un-manned aerial vehicles to small degradations of the motors’ effeciency.