Bounded tracking for nonminimum phase nonlinear systems with fastzero dynamics
Tomlin, C.J.; Sastry, S.S.
Decision and Control, 1996., Proceedings of the 35th IEEE
Volume 2, Issue , 11-13 Dec 1996 Page(s):2058 - 2063 vol.2
Digital Object Identifier 10.1109/CDC.1996.572889
Summary: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 work of Hunt, Meyer, and Su (1995)with
that of Devasia, Paden, and Chen (1996) on an asymptotic tracking
procedure for nonminimum phase nonlinear systems. We give (somewhat
subtle) conditions under which the tracking control input is bounded as
the magnitude of the perturbation of the nominal system becomes zero.
Explicit bounds on the control inputs are calculated using some
interesting non-standard singular perturbation techniques. The method is
applied to the simplified planar dynamics of VTOL and CTOL
aircraft
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