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Tracking with prescribed performance for linear non-minimum phase systems
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DOI：10.1016/j.automatica.2020.108909.png)
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Abstract
En 中文
We consider tracking control for uncertain linear systems with known relative degree which are possibly non-minimum phase, i.e., their zero dynamics may have an unstable part. For a given sufficiently smooth reference signal we design a low-complexity controller which achieves that the tracking error evolves within a prescribed performance funnel. We present a novel approach where a new output is constructed, with respect to which the system has a higher relative degree, but the unstable part of the zero dynamics is eliminated. Using recent results in funnel control, we then design a controller with respect to this new output, which also incorporates a new reference signal. We prove that the original output stays within a prescribed performance funnel around the original reference trajectory and all signals in the closed-loop system are bounded. The results are illustrated by some simulations. (C) 2020 Elsevier Ltd. All rights reserved.
Keywords:
Linear systems
Robust control
Non-minimum phase
Funnel control
Relative degree
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