Abstract Multivariable system models in the form of parameterized, impedance, matrix quadratic realizations are considered. System uncertainties in the form of mass-inertia or damping variations are acknowledged. Simple proportional controller models are proposed and the effect of model variations on the stability of the closed-loop system is investigated. Frequency domain methods are employed to predict the relative stability condition of the system. Conventional stability margin measures may be invoked while adjusting the controller design parameter to an appropriate setting.
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