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		Xuemei GUO,Guoli WANG.[en_title][J].Control Theory and Technology,2008,6(4):385~391.[Copy]

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XuemeiGUO,GuoliWANG
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Received:July 13, 2006Revised:December 03, 2008

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Ill-conditioned stable inversion arising from singularly perturbed zero dynamics

Xuemei GUO, Guoli WANG

(School of Information Science and Technology, Sun Yat-Sen University, Guangzhou Guangdong 510275, China)

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.

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