Stability assessment for cautious iterative controller tuning

@article{Kammer2004StabilityAF,
  title={Stability assessment for cautious iterative controller tuning},
  author={Leonardo C. Kammer},
  journal={2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601)},
  year={2004},
  volume={2},
  pages={1129-1133 Vol.2}
}
This document presents a model-free test for stability assessment in iterative controller tuning. The information required for the test is obtained from the currently available stable closed-loop system, and does not include a model of the plant. All controllers that satisfy the test are guaranteed to stabilize the actual plant. 
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