Optimal control for unstable non-minimum phase uncertain dynamic vehicle

A new control algorithm for control of linear uncertain systems is presented. This algorithm is applied to the control of an unstable nonminimum phase uncertain dynamic vehicle. The algorithm is based on the state and parameters observability canonical form and a certainty equivalence controller. The algorithm provides single controller for the problem of the uncertain dynamic vehicle that approaches the performance of a controller designed for perfectly known parameters within the whole range of the plant's uncertainty. The algorithm is globally BIBO stable for bounded persistently exciting input and needs only the knowledge of the order of the plant. The algorithm is presented and its performance is demonstrated by simulations.