Model reference robust control for non-minimum phase systems with disturbances (Q4955119)

The authors consider non-minimum phase (w.r.t.\ the relation between disturbance and output) systems of the form \(\dot{x} = Ax +bu +k\nu(x,u,t)\) with output \(y=c^Tx\), where \(\nu\) is an unknown bounded function representing model uncertainties and nonlinearities. The problem treated in this paper is the tracking of a reference signal in the presence of the disturbance \(\nu\). The proposed design technique relies on an estimate of the signal generated by \(\nu\), which is then taken into account in the controller construction. The stability of the resulting closed loop system is analyzed (noting that stability is not guaranteed in general for non-minimum phase systems), and the performance of the controller is illustrated by two examples.