| Summary: | The current article presents the design, implementation, validation, and use of a Computer-Aided Control System Design (CACSD) toolbox for nonlinear and hybrid system uncertainty modeling, simulation, and control using <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mi>μ</mi></semantics></math></inline-formula> synthesis. Remarkable features include generalization of classical system interconnection operations to nonlinear and hybrid systems, automatic computation of equilibrium points for nonlinear systems, and optimization of least conservative uncertainty bounds, with direct applicability for <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mi>μ</mi></semantics></math></inline-formula> synthesis. A unified approach is presented for the step-down (buck), step-up (boost), and single-ended primary-inductor (SEPIC) converters to showcase the use and flexibility of the toolbox. Robust controllers were computed by minimization of the <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><msub><mi mathvariant="script">H</mi><mo>∞</mo></msub></semantics></math></inline-formula> norm of the augmented performance systems, encompassing a wide range of uncertainty types, and have been designed using the well-known mixed-sensitivity closed loop shaping <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mi>μ</mi></semantics></math></inline-formula> synthesis method.
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