Singular perturbation margin and generalised gain margin for linear time-invariant systems

In this paper, we propose a singular perturbation margin (SPM) and a generalised gain margin (GGM) as stability metrics for single input-single output (SISO) linear time-invariant (LTI) systems from the view of singular perturbations and regular perturbations, which have bijective correspondences with the classical phase margin (PM) and the gain margin (GM), respectively. Both of the numerical and analytical time-domain SPM and GGM assessment methods are provided, and relationships between the singular perturbation parameter, PM of the perturbed system, PM and SPM of the nominal system, and the (monotonically increasing) phase of the fast system are also revealed. These results make it possible to assess the PM of the nominal system in the time domain for SISO LTI systems using the SPM with a standardised testing system called 'PM-gauge,' as demonstrated by examples. The concepts of SPM and GGM can be used as metrics of stability margins for linear time-varying systems and nonlinear systems.