Abstract
The lifting of Lozano (1989) is generalized and shown to be one in a large class of liftings which enjoy the same zero annihilation properties (i.e., placement of transmission zeros to the origin). The new class of liftings allows for longer horizons and leads to plant-inverse controllers for nonminimum-phase systems having significantly reduced control gains and peak torque requirements.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">></ETX>
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