Nonminimum phase output tracking using sliding modes

  • Govert Monsees
  • Jacquelien Scherpen
Conference paper
Part of the Lecture Notes in Control and Information Sciences book series (LNCIS, volume 281)


This paper introduces a stable feedforward controller which gives approximate tracking for discrete time nonminimum phase linear systems by only using a bounded preview of the desired output signal. The methods presented in this paper are based on the method of Dichotomies, which is adapted to the bounded preview time. Special attention is given to marginally stable zeros, which were not permitted in previous publications. It is shown that the error due to the bounded preview time is bounded, and decreasing while increasing the preview time. The performance of the feedforward controller is then further increased by adding a sliding mode controller within the feedforward controller. A simulation example demonstrates the applicability of the proposed controllers.


Slide Mode Control Slide Mode Controller Zero Dynamic Feedforward Controller Nonminimum Phase 
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Copyright information

© Springer-Verlag Berlin Heidelberg 2003

Authors and Affiliations

  • Govert Monsees
    • 1
  • Jacquelien Scherpen
    • 1
  1. 1.Faculty of Information Technology and Systems, Control Systems EngineeringDelft University of TechnologyDelftThe Netherlands

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