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The design of robust limit-cycle controllers is introduced for autonomous systems with separable SISO nonlinearities. The objective is to design a controller to secure specified robust oscillation amplitude and frequency. The method consists of quasilinearization of the nonlinear element via a Describing Function (DF) approach and then shaping the loop to reach desired limit-cycle characteristics. As the DF method is used, loop shaping takes place in the Nyquist plot. An example is given to illustrate the robustness of the controlled system to uncertainties in the linear subsystem model.

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