Cascade control for nonlinear non-minimum phase system based on backstepping approach and input output linearization
نویسندگان
چکیده
The problem of tracking control of nonlinear systems whose the zero dynamics are unstable is addressed in this paper. It is shown that, using a novel cascade structure where the backstepping approach is given to stabilise the internal dynamics and the standard input output linearization to stabilise the external dynamics. Assuming high-gain feedback for the external dynamics, a stability analysis of the global system is provided based on singular perturbation theory. Simulations of an inverted cart-pendulum illustrate the theoretical results. Keywords— tracking control, Non-minimum phase system, integrator backstepping, input output linearization, singular perturbed system.
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