It is shown how noisy closed-loop frequency response measurements can be used to obtain pointwise in frequency bounds on the possible difference between an otherwise unknown closed-loop system and the closed-loop comprising a nominal model of the plant and a stabilising controller. To this end, the Vinnicombe's gap metric framework for robustness analysis plays a central role. Indeed, an optimisation problem and corresponding algorithm are proposed for estimating the chordal distance between the frequency responses of the nominal plant model and a plant that is consistent with the closed-loop data and a priori information, when projected onto the Riemann sphere.
NotationLet C denote the field of complex numbers, C n×m the space of n × m matrices with complex entries, T := {z ∈ C : |z| = 1} the unit circle, and D ρ := {z ∈ C : |z| < ρ} the open disc of radius ρ > 0. The symbolD ρ is used to denote the closure of D ρ and for convenience, the sets D 1 andD 1 are denoted by D andD, respectively. Given ρ ≥ 1, let H ∞,ρ := {f : C →