Trajectory Control in Non-Minimum Phase Plants

ALBERTOS PEDRO; GUSTAVO SCAGLIA; JUAN YUZ; CUI WEI

Chengdu

Congreso; IEEE 16th Conference on Industrial Electronics and Applications (ICIEA); 2021

Non-minimum phase plants are always difficult tocontrol. Recently, the so-called Linear Algebra Based ControlDesign methodology has been used to trajectory control of linearand nonlinear plants, being initially limited to minimum phaseplants. In this work, the approach is extended to deal withunstable zero dynamics plants. First, the case of linear plants issystematically analyzed, considering the appearance of a positivezero. A solution is proposed to deal with the positive zero,requiring an advanced reference. Then, the approach is appliedto nonlinear plants when the positive zero is determined by asingle parameter in the plant model. Some simulations illustratethe procedure.