Bounded Tracking for Nonminimum Phase Nonlinear Systems with Fast Zero Dynamics

  title={Bounded Tracking for Nonminimum Phase Nonlinear Systems with Fast Zero Dynamics},
  author={S. Shankar Sastry},
In this paper, we derive tracking control laws for nonminimum phase nonlinear systems with both fast and slow, possibly unstable, zero dynamics. The fast zero dynamics arise from a perturbation of a nominal system. These fast zeros can be problematic in that they may be in the right half plane and may cause large magnitude tracking control inputs. In this paper, we combine the ideas from recent work of Hunt, Meyer, and Su with that of Devasia, Paden, and Chen on an asymptotic tracking procedure… CONTINUE READING
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