# Robustness analysis

Three analysis libraries are currently available in the SMAC toolbox:

• The SMART library (Skew Mu Analysis based Robustness Tools) is a a powerful extension of the previous Skew Mu toolbox. It contains a set of $\mu$-analysis based tools to evaluate the robustness properties of high-dimensional LTI plants subject to numerous LTI uncertainties. These tools allow to compute both upper and lower bounds on the (skewed) robust stability margin, the worst-case $\mathcal{H}_\infty$ performance level, as well as the worst-case gain, phase, modulus and time-delay margins.
• The IQC library (Integral Quadratic Constraints) implements a frequency-domain IQC based approach to evaluate the robustness properties of high-dimensional LTI plants subject to nonlinearities and LTI/LTV uncertainties.
• The Sedumi-based IQC solver implements a time-domain IQC based approach to evaluate the robustness properties of high-dimensional LTI plants subject to nonlinearities and LTI/LTV uncertainties.