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Abstract
<jats:p>This article derives simple graphical criteria for analyzing the robust stability of a multivariable control system for a Stewart platform (hexapod) with respect to multiplicative uncertainties of the system's parameters. The research is based on the characteristic transfer functions method, which allows one to reduce the stability analysis of a multivariable system to the analysis of independent systems with one input and one output. Graphically, the proposed robustness criterion represents a "forbidden" circle on the complex plane of the characteristic hodographs of the open-loop system. A numerical example of the robustness analysis of the hexapod's control system is presented.</jats:p>
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Keywords
system
analysis
stability
multivariable
control