Exercise
 M structure for combined input and output uncertain ties Consider the block diagram in Figure 
 where we have both input and output multiplicative uncertainty blocks
The set of possible plants is given by Gp  I W
O OWOGI W
I IWI 


where k Ik
  and k Ok
 
Collect the perturbations into 

diagf I  Og and rearrange Figure 
 into the M structure in Figure 
 Show that M  WI 

 WO 
TI
KS SG
T W
I 

 W
O