ABSTRACT
This chapter describes the classical performance specifications for single-input single-output (SISO) linear time-invariant (LTI) systems. This is followed by a discussion of the classical robustness specifications for SISO LTI systems. The chapter provides some miscellaneous classical specifications. It discusses performance specifications that are unique to multi-input multioutput (MIMO) systems. During the design process, the engineer may want to consider the extent to which changes in system parameters affect the behavior of a system. A good example of a control system that is designed to “fail soft” is the controller that regulates the height of the water in a toilet tank. For these reasons, it is important to have the plant designer, the person responsible for the controller specifications, and the control designer work together from the beginning to the end of any project with demanding control requirements. For MIMO systems, as for the requirements on the loop gain in SISO control design, any violation of the low-frequency boundar.
