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4 Qualifying Exam/2 Writing/2. QE State of the Art.md
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@ -29,7 +29,10 @@ b_{min} \leq b +e_b \leq b_{max} \\
k_{min} \leq k +e_k \leq k_{max}} $$
where $e_m$ is the difference between the nominal mass and the actual as-built mass. $e_b$ and $e_k$ follow similar logic. Structured perturbations are easy to use to create perturbed plants: simply pick values for $e_m$, $e_b$, and $e_k$ that are within the allowable bounds and plug them in to create a new, perturbed transfer function.
Structured perturbations do suffer from a limit
**Limitation:** *Structured perturbations limit the form of perturbation possible to sample.* Because structured perturbations either are chosen a priori or through a parametric study, the form of possible perturbed plants is limited. Structured perturbations do not allow for unmodelled dynamics to be included as a possible perturbation.
The other type of uncertainty considered is unstructured uncertainty. This type of uncertainty does not assume a form
(The disk multiplicative perturbation)
(Explain how actually getting to W_2 isn't really trivial).