Dynamic Non-Minimum Phase Compensation for SISO Nonlinear, Affine in the Input Systems
Abstract
Nonminimum phase difficulties prevent the use of input-output feedback linearization. To avoid this problem, earlier work proposed the use of synthetic outputs with the view of placing zeros in prescribed locations under a condition of static equivalence. The objective here is also to introduce a synthetic output. However this is defined through the use of dynamic perturbations aimed at yielding maximum relative degree. Resetting of the initial conditions of the additional dynamics allows design freedom for closing the gap between the behaviour of the synthetic and actual output. The efficacy of the strategy in meeting pole placement is demonstrated by a simple numerical example.
