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At least 163 records · Page 9

Collisional cascading - The limits of population growth in low earth orbit

Random collisions between made-made objects in earth orbit will lead to a significant source of orbital debris, but there are a number of uncertainties in these models, and additional analysis and data are required to fully characterize the future environment. However, the nature of these uncertainties are such that while the future environment is uncertain, the fact that collisions will control the future environment is less uncertain. The data that already exist is sufficient to show that cascading collisions will control the future debris environment with no, or very minor increases in the current low-earth-orbit population. Two populations control this process: explosion fragments and expended rocket bodies and payloads. Practices are already changing to limit explosions in low earth orbit; it is necessary to begin limiting the number of expended rocket bodies and payloads in orbit.

Kessler, Donald J.↗

Daily Ambient Air Pollution Metrics for Five Cities: Evaluation of Data Fusion-Based Estimates and Uncertainties

Spatiotemporal characterization of ambient air pollutant concentrations is increasingly relying on the combination of observations and air quality models to provide well-constrained, spatially and temporally complete pollutant concentration fields. Air quality models, in particular, are attractive, as they characterize the emissions, meteorological, and physiochemical process linkages explicitly while providing continuous spatial structure. However, such modeling is computationally intensive and has biases. The limitations of spatially sparse and temporally incomplete observations can be overcome by blending the data with estimates from a physically and chemically coherent model, driven by emissions and meteorological inputs. We recently developed a data fusion method that blends ambient ground observations and chemical transport-modeled (CTM) data to estimate daily, spatially resolved pollutant concentrations and associatedcorrelations. In this study, we assess the ability of the data fusion method to produce daily metrics (i.e., 1-hr max, 8-hr max, and 24-hr average) of ambient air pollution that capture spatiotemporal air pollution trends for 12 pollutants (CO, NO2, NOx, O3, SO2, PM (sub10), PM (sub 2.5), and five PM (sub 2.5) components) across five metropolitan areas (Atlanta, Birmingham, Dallas, Pittsburgh, and St. Louis), from 2002 to 2008. Three sets of comparisons are performed: (1) the CTM concentrations are evaluated for each pollutant and metropolitan domain, (2) the data fusion concentrations are compared with the monitor data, (3) a comprehensive cross-validation analysis against observed data evaluates the quality of the data fusion model simulations across multiple metropolitan domains. The resulting daily spatial field estimates of air pollutant concentrations and uncertainties are not only consistent with observations, emissions, andmeteorology, but substantially improve CTM-derived results for nearly all pollutants and all cities, with the exception of NO2 for Birmingham. The greatest improvements occur for O3 and PM (sub 2.5). Squared spatiotemporal correlation coefficients range between simulations and observations determined using cross-validation across all cities for air pollutants of secondary and mixed origins are R-squared equal to 0.88-0.93 (O3), 0.81-0.89 (SO4), 0.67-0.83 (PM (sub 2.5)), 0.52-0.72 (NO3), 0.43-0.80 (NH4), 0.32-0.51 (OC), and 0.14-0.71 (PM (sub 10)). Results for relatively homogeneous pollutants of secondary origin, tend to be better than those for more spatially heterogeneous (larger spatial gradients) pollutants of primary origin (NOx, CO, SO2 and EC). Generally, background concentrations and spatial concentration gradients reflect interurban airshed complexity and the effects of regional transport, whereas daily spatial pattern variability shows intra urban consistency in the fused data. With sufficiently high CTM spatial resolution, traffic-related pollutants exhibit gradual concentration gradients that peak toward the urban centers. Ambient pollutant concentration uncertainty estimates for the fused data are both more accurate and smaller than those for either the observations or the model simulations alone.

spatiotemporal fusion↗

Atmospheric studies related to aerospace activities and remote sensing technology

Parallel investigations were conducted relating to: the sensitivity of 1-D photochemical model simulated column ozone perturbations due to a projected fleet of 1000 aircraft cruising 7 hours per day at altitudes of 15-16 and 18-19 km to uncertainties in kinetic rate constant data determining modeled OH concentrations and eddy diffusivity profile parameterization and a comparison of the inherent strengths and weaknesses of Eulerian and Langrangian averaging processes in the development of multidimensional models and investigation of approaches to applying the Generalized Lagrangian Mean (GLM) formalism to zonal-mean models. The role of multiple scattering and Earth curvature in the evaluation of diurnally dependent photodissociation rates and trace species variations was examined.

Sze, N. D.↗

Partitioning of ocean and land uptake of CO2 as inferred by delta C-13 measurements from the NOAA Climate Monitoring and Diagnostics Laboratory Global Air Sampling Network

Using delta C-13 measurements in atmospheric CO2 from a cooperative global air sampling network, we determined the partitioning of the net uptake of CO2 between ocean and land as a function of latitude and time. The majority of delta C-13 measurements were made at the Institute of Arctic and Alpine Research (INSTAAR) of the University of Colorado. We perform an inverse deconvolution of both CO2 and delta C-13 observations, using a two-dimensional model of atmospheric transport. Also, the discrimination against C-13 by plant photosynthesis, as a function of latitude and time, is calculated from global runs of the simple biosphere (SiB) model. Uncertainty due to the longitudinal structure of the data, which is not represented by the model, is studied through a bootstrap analysis by adding and omitting measurement sites. The resulting error estimates for our inferred sources and sinks are of the order of 1 GTC (1 GTC = 10(exp 15) gC). Such error bars do not reflect potential systematic errors arising from our estimates of the isotopic disequilibria between the atmosphere and the oceans and biosphere, which are estimated in a separate sensitivity analysis. With respect to global totals for 1992 we found that 3.2 GTC of carbon dissolved into the ocean and that 1.5 GTC were sequestered by land ecosystems. Northern hemisphere ocean gyres north of 15 deg N absorbed 2.7 GTC. The equatorial oceans between 10 deg S and 10 deg N were a net source to the atmosphere of 0.9 GTC. We obtained a sink of 1.6 GTC in southern ocean gyres south of 20 deg S, although the deconvolution is poorly constrained by sparse data coverage at high southern latitudes. The seasonal uptake of CO2 in the northern gyres appears to be correlated with a bloom of phytoplankton in surface waters. On land, northern temperate and boreal ecosystems between 35 deg N and 65 deg N were found to be a major sink of CO2 in 1992, as large as 3.5 GTC. Northern tropical ecosystems (equator-30 deg N) appear to be a net source to the source to the atmosphere of 2 GTC which could reflect biomass burning. A small sink, 0.3 GTC, was inferred for southern tropical ecosystems (30 deg S-equator).

Ciais, Philippe↗

NASA Models of Space Radiation Induced Cancer, Circulatory Disease, and Central Nervous System Effects

The risks of late effects from galactic cosmic rays (GCR) and solar particle events (SPE) are potentially a limitation to long-term space travel. The late effects of highest concern have significant lethality including cancer, effects to the central nervous system (CNS), and circulatory diseases (CD). For cancer and CD the use of age and gender specific models with uncertainty assessments based on human epidemiology data for low LET radiation combined with relative biological effectiveness factors (RBEs) and dose- and dose-rate reduction effectiveness factors (DDREF) to extrapolate these results to space radiation exposures is considered the current "state-of-the-art". The revised NASA Space Risk Model (NSRM-2014) is based on recent radio-epidemiology data for cancer and CD, however a key feature of the NSRM-2014 is the formulation of particle fluence and track structure based radiation quality factors for solid cancer and leukemia risk estimates, which are distinct from the ICRP quality factors, and shown to lead to smaller uncertainties in risk estimates. Many persons exposed to radiation on earth as well as astronauts are life-time never-smokers, which is estimated to significantly modify radiation cancer and CD risk estimates. A key feature of the NASA radiation protection model is the classification of radiation workers by smoking history in setting dose limits. Possible qualitative differences between GCR and low LET radiation increase uncertainties and are not included in previous risk estimates. Two important qualitative differences are emerging from research studies. The first is the increased lethality of tumors observed in animal models compared to low LET radiation or background tumors. The second are Non- Targeted Effects (NTE), which include bystander effects and genomic instability, which has been observed in cell and animal models of cancer risks. NTE's could lead to significant changes in RBE and DDREF estimates for GCR particles, and the potential effectiveness of radiation mitigator's. The NSRM- 2014 approaches to model radiation quality dependent lethality and NTE's will be described. CNS effects include both early changes that may occur during long space missions and late effects such as Alzheimer's disease (AD). AD effects 50% of the population above age 80-yr, is a degenerative disease that worsens with time after initial onset leading to death, and has no known cure. AD is difficult to detect at early stages and the small number of low LET epidemiology studies undertaken have not identified an association with low dose radiation. However experimental studies in mice suggest GCR may lead to early onset AD. We discuss modeling approaches to consider mechanisms whereby radiation would lead to earlier onset of occurrence of AD. Biomarkers of AD include amyloid beta (A(Beta)) plaques, and neurofibrillary tangles (NFT) made up of aggregates of the hyperphosphorylated form of the micro-tubule associated, tau protein. Related markers include synaptic degeneration, dentritic spine loss, and neuronal cell loss through apoptosis. Radiation may affect these processes by causing oxidative stress, aberrant signaling following DNA damage, and chronic neuroinflammation. Cell types to be considered in multi-scale models are neurons, astrocytes, and microglia. We developed biochemical and cell kinetics models of DNA damage signaling related to glycogen synthase kinase-3(Beta) (GSK3(Beta)) and neuroinflammation, and considered multi-scale modeling approaches to develop computer simulations of cell interactions and their relationships to A(Beta) plaques and NFTs. Comparison of model results to experimental data for the age specific development of A(Beta) plaques in transgenic mice will be discussed.

Cucinotta, Francis A.↗

Structured Uncertainty Bound Determination From Data for Control and Performance Validation

This report attempts to document the broad scope of issues that must be satisfactorily resolved before one can expect to methodically obtain, with a reasonable confidence, a near-optimal robust closed loop performance in physical applications. These include elements of signal processing, noise identification, system identification, model validation, and uncertainty modeling. Based on a recently developed methodology involving a parameterization of all model validating uncertainty sets for a given linear fractional transformation (LFT) structure and noise allowance, a new software, Uncertainty Bound Identification (UBID) toolbox, which conveniently executes model validation tests and determine uncertainty bounds from data, has been designed and is currently available. This toolbox also serves to benchmark the current state-of-the-art in uncertainty bound determination and in turn facilitate benchmarking of robust control technology. To help clarify the methodology and use of the new software, two tutorial examples are provided. The first involves the uncertainty characterization of a flexible structure dynamics, and the second example involves a closed loop performance validation of a ducted fan based on an uncertainty bound from data. These examples, along with other simulation and experimental results, also help describe the many factors and assumptions that determine the degree of success in applying robust control theory to practical problems.

Lim, Kyong B.↗

Suited and Unsuited Hybrid III Impact Testing and Finite Element Model Characterization

NASA spacecraft design requirements for occupant protection are a combination of the Brinkley Dynamic Response Criteria and injury assessment reference values (IARV) extracted from anthropomorphic test devices (ATD). For the ATD IARVs, the requirements specify the use of the 5th percentile female Hybrid III and the 95th percentile male Hybrid III. Each of these ATDs is required to be fitted with an articulating pelvis (also known as the aerospace pelvis) and a straight spine. The articulating pelvis is necessary for the ATD to fit into spacecraft seats, while the straight spine is required as injury metrics for vertical accelerations are better defined for this configuration. Sled testing of the Hybrid III 5th Percentile Female Anthropomorphic Test Device (ATD) was performed at Wright-Patterson Air Force Base (WAPFB). Two 5th Percentile ATDs were tested, the Air Force Research Lab (AFRL) and NASA owned Hybrid III ATDs with aerospace pelvises. Testing was also conducted with a NASA-owned 95th Percentile Male Hybrid III with aerospace pelvis at WPAFB. Testing was performed using an Orion seat prototype provided by Johnson Space Center (JSC). A 5-point harness comprised of 2 inch webbing was also provided by JSC. For suited runs, a small and extra-large Advanced Crew Escape System (ACES) suit and helmet were also provided by JSC. Impact vectors were combined frontal/spinal and rear/lateral. Some pure spinal and rear axis testing was also performed for model validation. Peak accelerations ranged between 15 and 20-g. This range was targeted because the ATD responses fell close to the IARV defined in the Human-Systems Integration Requirements (HSIR) document. Rise times varied between 70 and 110 ms to assess differences in ATD responses and model correlation for different impact energies. The purpose of the test series was to evaluate the Hybrid III ATD models in Orion-specific landing orientations both with and without a spacesuit. The results of these tests were used by the NASA Engineering and Safety Center (NESC) to validate the finite element model (FEM) of the Hybrid III 5th Percentile Female ATD. Physical test data was compared to analytical predictions from simulations, and modelling uncertainty factors have been determined for each injury metric. Additionally, the test data has been used to further improve the FEM, particularly in the areas of the ATD preload, harness, and suit and helmet effects.

Lawrence, C.↗

Sensitivity of the MAR Regional Climate Model Snowpack to the Parameterization of the Assimilation of Satellite-Derived Wet-Snow Masks on the Antarctic Peninsula

Both regional climate models (RCMs) and remote sensing (RS) data are essential tools in understanding the response of polar regions to climate change. RCMs can simulate how certain climate variables, such as surface melt, runoff and snowfall, are likely to change in response to different climate scenarios but are subject to biases and errors. RS data can assist in reducing and quantifying model uncertainties by providing indirect observations of the modeled variables on the present climate. In this work, we improve on an existing scheme to assimilate RS wet snow occurrence data with the “Modèle Atmosphérique Régional” (MAR) RCM and investigate the sensitivity of the RCM to the parameters of the scheme. The assimilation is performed by nudging the MAR snowpack temperature to match the presence of liquid water observed by satellites. The sensitivity of the assimilation method is tested by modifying parameters such as the depth to which the MAR snowpack is warmed or cooled, the quantity of water required to qualify a MAR pixel as “wet” (0.1 % or 0.2 % of the snowpack mass being water), and assimilating different RS datasets. Data assimilation is carried out on the Antarctic Peninsula for the 2019–2021 period. The results show an increase in meltwater production (+66.7 % on average, or +95 Gt), along with a small decrease in surface mass balance (SMB) (−4.5 % on average, or −20 Gt) for the 2019–2020 melt season after assimilation. The model is sensitive to the tested parameters, albeit with varying orders of magnitude. The prescribed warming depth has a larger impact on the resulting surface melt production than the liquid water content (LWC) threshold due to strong refreezing occurring within the top layers of the snowpack. The values tested for the LWC threshold are lower than the LWC for typical melt days (approximately 1.2 %) and impact results mainly at the beginning and end of the melting period. The assimilation method will allow for the estimation of uncertainty in MAR meltwater production and will enable the identification of potential issues in modeling near-surface snowpack processes, paving the way for more accurate simulations of snow processes in model projections.

regional climate models↗

The uncertainty in ozone calculations by a stratospheric photochemistry model

At present, there is an apparent conflict between one-dimensional stratospheric photochemistry models used in predicting ozone depletion and average data for stratospheric ozone. This conflict is in three particulars - column density of O3 and ozone density in the regions around 30 km and 50 km altitude. A study of the sensitivity of one such model to the values of reaction rates, boundary conditions, solar intensities, photolysis cross sections, and O(1D) yield parameters reveals that even at the 2-sigma uncertainty limit due to these input parameters, the model does not overlap the data for O3 density at 30 km and 50 km. The data is outside the 1-sigma model uncertainty limit for O3 column density. The study also shows the relative contribution of the various parameters studied to the imprecision in these model results.

Butler, D. M.↗

Analysis and forecast intercomparisons using the FGGE SOP-1 data base

The First GARP Global Experiment (FGGE) data base has provided the research community with the most complete global coverage of meteorological informaiton since measurements were first taken. It is important to understand the characteristics of the FGGE data base in terms of its accuracy and representativeness compared to the true state of the atmosphere. The uncertainty associated with the initial conditions used in a numerical model plays a significant role in subsequent error growth as shown by predictability theory. The ultimate limit of forecast skill is directly related to the initial uncertainty. The accuracy of analyses using FGGE data base coupled with the errors due to modeling imperfections determines the present skill of numerical models. An estimte of initial uncertainty is determined by examining differences in several FGGE analyses. The estimate is then used to determine an ultimate limit of forecast skill from derived predictability error growth rates. Several different calculations of predictability error growth are also compared. Finally, present-day forecast skill using FGGE analyses is contrasted to the estimates of ultimate skill, and the partition of model error versus initial uncertainty is discussed.

Baumhefner, D. P.↗

Probing the large-scale velocity field with clusters of galaxies

What is the role of clusters of galaxies in probing the large-scale velocity field of the universe? We investigate the distribution of peculiar velocities of clusters of galaxies in the popular low-density (omega = 0.3) flat cold dark matter (CDM) cosmological model, which best fits many large-scale structure observations. An omega = 1 CDM model is also studied for comparison. We find that clusters of galaxies are efficient tracers of the large-scale velocity field. The clusters exhibit a Maxwellian distribution of peculiar velocities, as expected from Gaussian initial density fluctuations. The cluster three-dimensional velocity distribution for the omega = 0.3 model peaks at nu approximately greater than 400 km/s and extends to high velocities of nu approximately 1200 km/s. The rms peculiar velocity of the clusters is 440 km/s. Approximately 10% of all model clusters move with high peculiar velocities nu greater or equal to 700 km/s. The observed velocity distribution of clusters of galaxies is compared with the predictions from cosmological models. The observed data exhibit a larger velocity tail than seen in the model simulations; however, due to the large observational uncertainties, the data are consistent at approximately equal to 3 sigma level with the odel predictions, and with a Gaussian initial density field. The large peculiar velocities reported for some clusters of galaxies (nu approximately greater than 3000 km/s) are likely to be overestimated, if the current model is viable.

Bahcall, Neta A.↗

Wavelet Filtering to Reduce Conservatism in Aeroservoelastic Robust Stability Margins

Wavelet analysis for filtering and system identification was used to improve the estimation of aeroservoelastic stability margins. The conservatism of the robust stability margins was reduced with parametric and nonparametric time-frequency analysis of flight data in the model validation process. Nonparametric wavelet processing of data was used to reduce the effects of external desirableness and unmodeled dynamics. Parametric estimates of modal stability were also extracted using the wavelet transform. Computation of robust stability margins for stability boundary prediction depends on uncertainty descriptions derived from the data for model validation. F-18 high Alpha Research Vehicle aeroservoelastic flight test data demonstrated improved robust stability prediction by extension of the stability boundary beyond the flight regime.

Brenner, Marty↗

On-Line Robust Modal Stability Prediction using Wavelet Processing

Wavelet analysis for filtering and system identification has been used to improve the estimation of aeroservoelastic stability margins. The conservatism of the robust stability margins is reduced with parametric and nonparametric time- frequency analysis of flight data in the model validation process. Nonparametric wavelet processing of data is used to reduce the effects of external disturbances and unmodeled dynamics. Parametric estimates of modal stability are also extracted using the wavelet transform. Computation of robust stability margins for stability boundary prediction depends on uncertainty descriptions derived from the data for model validation. The F-18 High Alpha Research Vehicle aeroservoelastic flight test data demonstrates improved robust stability prediction by extension of the stability boundary beyond the flight regime. Guidelines and computation times are presented to show the efficiency and practical aspects of these procedures for on-line implementation. Feasibility of the method is shown for processing flight data from time- varying nonstationary test points.

Brenner, Martin J.↗

The Pliocene Model Intercomparison Project (PlioMIP) Phase 2: Scientific Objectives and Experimental Design

The Pliocene Model Intercomparison Project (PlioMIP) is a co-ordinated international climate modelling initiative to study and understand climate and environments of the Late Pliocene, as well as their potential relevance in the context of future climate change. PlioMIP examines the consistency of model predictions in simulating Pliocene climate and their ability to reproduce climate signals preserved by geological climate archives. Here we provide a description of the aim and objectives of the next phase of the model intercomparison project (PlioMIP Phase 2), and we present the experimental design and boundary conditions that will be utilized for climate model experiments in Phase 2. Following on from PlioMIP Phase 1, Phase 2 will continue to be a mechanism for sampling structural uncertainty within climate models. However, Phase 1 demonstrated the requirement to better understand boundary condition uncertainties as well as uncertainty in the methodologies used for data-model comparison. Therefore, our strategy for Phase 2 is to utilize state-of-the-art boundary conditions that have emerged over the last 5 years. These include a new palaeogeographic reconstruction, detailing ocean bathymetry and land-ice surface topography. The ice surface topography is built upon the lessons learned from offline ice sheet modelling studies. Land surface cover has been enhanced by recent additions of Pliocene soils and lakes. Atmospheric reconstructions of palaeo-CO2 are emerging on orbital timescales, and these are also incorporated into PlioMIP Phase 2. New records of surface and sea surface temperature change are being produced that will be more temporally consistent with the boundary conditions and forcings used within models. Finally we have designed a suite of prioritized experiments that tackle issues surrounding the basic understanding of the Pliocene and its relevance in the context of future climate change in a discrete way.

climate models↗

Probabilistic Mass Growth Uncertainties

Mass has been widely used as a variable input parameter for Cost Estimating Relationships (CER) for space systems. As these space systems progress from early concept studies and drawing boards to the launch pad, their masses tend to grow substantially, hence adversely affecting a primary input to most modeling CERs. Modeling and predicting mass uncertainty, based on historical and analogous data, is therefore critical and is an integral part of modeling cost risk. This paper presents the results of a NASA on-going effort to publish mass growth datasheet for adjusting single-point Technical Baseline Estimates (TBE) of masses of space instruments as well as spacecraft, for both earth orbiting and deep space missions at various stages of a project's lifecycle. This paper will also discusses the long term strategy of NASA Headquarters in publishing similar results, using a variety of cost driving metrics, on an annual basis. This paper provides quantitative results that show decreasing mass growth uncertainties as mass estimate maturity increases. This paper's analysis is based on historical data obtained from the NASA Cost Analysis Data Requirements (CADRe) database.

Plumer, Eric↗

Fast-Time Simulation for Evaluating the Impact of Estimated Flight Ready Time Uncertainty on Surface Metering

NASA has been developing and demonstrating new concepts and technologies for Integrated Arrival, Departure, and Surface (IADS) traffic management capabilities under the Airspace Technology Demonstration 2 (ATD-2) project. One of the IADS capabilities in the ATD-2 project is surface metering enabled by a tactical surface scheduler to provide controllers with the pushback advisories for departures at gates. The tactical surface scheduler uses the estimated flight ready times provided by airlines, called Earliest Off-Block Times (EOBTs), as input to calculate the target off-block times for pushback advisories. However, the EOBTs are often inaccurate and deviate from the actual flight ready times, which may reduce the benefits of surface metering. In this paper, a linear regression model is developed to model the EOBT uncertainty distribution over time based on actual EOBT data collected at Charlotte airport. This EOBT model is integrated with a tactical surface scheduler and a fast-time simulation tool. To evaluate the impact of the EOBT accuracy on airport surface operations, fast-time simulations are implemented for selected traffic scenarios under different levels of modelled EOBT accuracy. The simulation results show that the EOBT uncertainty affects several performance metrics related to the surface metering, such as gate hold, taxi time reduction, and target takeoff time predictability, which in turn influences ATD-2's scheduler performance.

tactical surface scheduler↗

Fast-Time Simulation for Evaluating the Impact of Estimated Flight Ready Time Uncertainty on Surface Metering

NASA has been developing and demonstrating new concepts and technologies for Integrated Arrival, Departure, and Surface (IADS) traffic management capabilities under the Airspace Technology Demonstration 2 (ATD-2) project. One of the IADS capabilities in the ATD-2 project is surface metering enabled by a tactical surface scheduler to provide controllers with the pushback advisories for departures at gates. The tactical surface scheduler uses the estimated flight ready times provided by airlines, called Earliest Off-Block Times (EOBTs), as input to calculate the target off-block times for pushback advisories. However, the EOBTs are often inaccurate and deviate from the actual flight ready times, which may reduce the benefits of surface metering. In this paper, a linear regression model is developed to model the EOBT uncertainty distribution over time based on actual EOBT data collected at Charlotte airport. This EOBT model is integrated with a tactical surface scheduler and a fast-time simulation tool. To evaluate the impact of the EOBT accuracy on airport surface operations, fast-time simulations are implemented for selected traffic scenarios under different levels of modelled EOBT accuracy. The simulation results show that the EOBT uncertainty affects several performance metrics related to the surface metering, such as gate hold, taxi time reduction, and target takeoff time predictability, which in turn influences ATD-2's scheduler performance.

tactical surface scheduler↗

Validation of an Experimentally Derived Uncertainty Model

The results show that uncertainty models can be obtained directly from system identification data by using a minimum norm model validation approach. The error between the test data and an analytical nominal model is modeled as a combination of unstructured additive and structured input multiplicative uncertainty. Robust controllers which use the experimentally derived uncertainty model show significant stability and performance improvements over controllers designed with assumed ad hoc uncertainty levels. Use of the identified uncertainty model also allowed a strong correlation between design predictions and experimental results.

Lim, K. B.↗