The function *[bound,muinfo,RPmargin]=fRP(M,om)* computes the robust performance margins for the uncertain plant and for the frequency grid . It returns the -ssv upper- and lower-bounds by means of the *mussv* command from the Robust Control Toolbox. The outputs are:

*bound*: A structure with the lower- and upper-bounds for each frequency .*muinfo*: The -information obtained during the computations.*RPmargin*: The robust performance margins.

If specifying the 3rd inputs as *, one can rescale the analysis as follows. Given the uncertain plant*

* *

*the uncertainty scaling factor, , scales the size of the uncertainty such that*

, for all with .

If not specified, is set to its default value .