Ill-conditioned stable inversion arising from singularly perturbed zero dynamics

Key words:  Nonminimum phase  Ill-defined relative degree  Stable inversion  Singularly perturbed zero dynamics

摘要:

Abstract:

The ill-conditioned stable inversion is studied for slightly nonminimum phase systems whose zero dynamics is singularly perturbed, that is, the relative degree is ill-defined. For these systems, we show that there exists an inherent limitation in the bandwidth of a reference trajectory to be tracked when a well-conditioned feedforward input via stable inversion is sought. We assert that, when the violation of this limitation occurs, the so-called reference trajectory redesign is called for. Our analysis results can provide an explicit assessment as well as useful guidance for the reference trajectory redesign if needed.