The ill-conditioned stable inversion is studied for slightly nonminimum phase systems whose zero dynam- ics is singularly perturbed, that is, the relative degree is ill-defined. For these systems, we show that there e...The ill-conditioned stable inversion is studied for slightly nonminimum phase systems whose zero dynam- ics 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.展开更多
基金the National Natural Science Foundation of China (No.60473120)the Natural Science Foundation of Guangdong(No.6023190)the Scientific Research Foundation for the Returned Overseas Chinese Scholars, State Education Ministry of China.
文摘The ill-conditioned stable inversion is studied for slightly nonminimum phase systems whose zero dynam- ics 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.
