Convolution profiles for right inversion of multivariable non-minimum phase discrete-time systems

The problem of the non-causal inversion of linear multivariable discrete-time systems is analyzed in the geometric approach framework and is solved through the computation of convolution pro#les which guarantee perfect tracking under the assumption of in#nite-length preaction and postaction time intervals. It is shown how the shape of the convolution pro#les is related to both the relative degree and the invariant zeros of the plant. A computational setting for the convolution pro#les is derived by means of the standard geometric approach tools. Feasibility constraints are also taken into account. A possible implementation scheme, based on a #nite impulse response system acting on a stabilized control loop, is provided. ? 2002 Elsevier Science Ltd. All rights reserved.