Model error compensator design for continuous- and discrete-time non-minimum phase systems with polytopic-type uncertainties

This paper presents a design for model error compensator with parallel feedforward continuous- and discrete-time non-minimum phase multiple input output (MIMO) plants. The can easily achieve robustness several types of control systems. By appending the to actual plant, trajectory plant be made close that system intended nominal model. Our previous study proposed using particle swarm optimization linear matrix inequalities based on common Lyapunov function. plants addresses polytopic-type uncertainties. However, it is challenging appropriate gain if MIMO system. In this study, attached minimum characteristics. An evaluation system, including compensator, derived as polytopic uncertainties via addition some assumptions. Thus, easy in method robust performance. effectiveness evaluated numerical examples.