Table 7.

Performance indices under two sets of tuning for robust performance with different scenarios of plant and disturbance model perturbations.

		p ≠ p̃, pd ≠ p̃d			p = p̃, pd = p̃d
Tuning	Uncertainty Case (plant (p), disturbance(pd))	Je	JΔu	Max. pain	Je	JΔu	Max. pain
αr = αd = 0, fa = 0.2	1,1	2.88	7.43	51.25
	4,5	44.47	37.19	51.55
	3,3	48.05	26.03	52.99
	5,3	75.48	52.07	53.7	2.88	7.43	51.25
	4,3	307.28	55.79	55.12	0.39	126.46	50.23
					6.78	63.23	50.56
αr = αd = 0, fa = 1	1,1	2.88	7.43	51.25	8.55	70.66	50.72
	4,5	9.05	14.87	50.97
	3,3	12.04	26.03	50.91	0.25	252.92	50.17
	5,3	14.44	33.47	51.17
	4,3	216.33	78.1	53.57