Tracking control of nonminimum phase systems: an overview
YE Lin-qi
ZONG Qun
TIAN Bai-ling
WANG Fang
Abstract：Nonminimum phase systems refer to the systems with unstable zero dynamics.Classical tracking control theory,especially nonlinear systems tracking control theory,is developed on the hypothesis of minimum phase systems,which prevents its direct application to nonminimum phase systems.As an extension and implementation of classical control theory,it is of great significance to investigate the tracking control theory of nonminimum phase systems.This paper makes an overview on the current achievements in tracking control of nonminimum phase systems.First,the basic idea of each method for tracking control of nonminimum phase systems is summarized,and a basic framework is presented by sorting these methods into approximate tracking and exact tracking.Then,the methods are introduced one by one according to the preceding framework.Next,the tracking performance limitations of nonminimum phase systems are discussed.Finally,some issues of the current research are summarized and an outlook on future directions is provided.The purpose of this paper is to help control engineers acquire a comparatively comprehensive understanding in tracking control of nonminimum phase systems.
Keywords：control systemsnonminimum phasetracking controlzero dynamicsperformance limitations
Publication Date：2017-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：18( 141-158 )