  This letter offers a novel approach to Test and Evaluation of pre-existing
controllers from a control barrier function and dynamics perspective. More
aptly, prior Test and Evaluation techniques tend to require apriori knowledge
of a space of allowable disturbances. Our work, however, determines a two-norm
disturbance-bound rejectable by a system's controller without requiring
specific knowledge of these disturbances beforehand. The authors posit that
determination of such a disturbance bound offers a better understanding of the
robustness with which a given controller achieves a specified task - as
motivated through a simple, linear-system example. Additionally, we show that
our resulting disturbance bound is accurate through simulation of 1000
randomized trials in which a Segway-controller pair satisfies its specification
despite randomized perturbations within our identified bound.
