A solution technique for almost perfect tracking of non-minimum-phase, discrete-time linear systems

Abstract

In this paper, the Steering Along Zeros Control technique for achieving a stable inversion of discrete-time non-minimumphase linear systems is presented. It is shown how the problem reduces to the computation of an ideal initial state from which perfect tracking of a given reference signal can be achieved with a bounded control effort. A case study is presented relative to the control of a one-link flexible arm.