Nonminimum phase tracking in MIMO systems with square input-output dynamics via dynamic sliding manifolds (Q5950730)

The authors consider a class of nonminimum phase (meaning that the input-output linearization model has unstable internal dynamics) control systems with matched nonlinearities as well as matched and unmatched disturbances, where the number of inputs and the total relative degree are equal. Given a causal output reference, a sliding manifold is designed to provide asymptotically stable error dynamics in the sliding mode. The proposed controller is shown to be insensitive to matched disturbances and nonlinearities. An illustrative example is also presented.