Funnel control for linear non‐minimum phase systems

Decentralised Sliding Mode Control for Nonminimum Phase Nonlinear Interconnected Systems

A class of interconnected systems with nonlinear interconnections and nonlinear disturbances is considered. A continuous nonlinear reduced-order compensator is established by exploiting the structure of the uncertainties. A sliding surface is proposed in an augmented space formed by the system output and the compensator variables, and the stability of the corresponding sliding mode is analysed....

Retrospective Cost Model Reference Adaptive Control for Nonminimum-Phase Systems

T HE objective of model reference adaptive control (MRAC) is to control an uncertain system so that it behaves like a given referencemodel in response to specified referencemodel commands. MRAC has been studied extensively for both continuous-time [1–8] and discrete-time systems [7–12]. In addition, MRAC has been extended to various classes of nonlinear systems [13]. However, the direct adaptiv...

Direct Adaptive Control of Nonminimum Phase Systems Using Integral Action

This paper presents a direct adaptive control scheme for nonminimum phase systems in which controller parameters are estimated from the recursive least-squares algorithm, and additional auxiliary parameters are obtained from the proposed polynomial identity. A local convergence is guaranteed without any extra condition. Integral action is incorporated into the adaptive controller to eliminate t...

Adaptive control of nonminimum-phase systems using shifted Laurent series

Zero dynamics and funnel control of linear differential-algebraic systems

We study the class of linear differential-algebraic m-input m-output systems which have a transfer function with proper inverse. A sufficient condition for the transfer function to have proper inverse it that the system has ‘strict and non-positive relative degree’. We present two main results: First, a so called ‘zero dynamics form’ is derived: this form is – within the class of system equival...