RESEARCH INITIATION AWARD: Stable Inversion and Output Tracking for Nonlinear Nonminimum Phase Systems

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9410646 Chen This project investigates a challenging problem in nonlinear control. It aims to provide a systematic synthesis procedure for designing output tracking controllers that apply to nonminimum phase nonlinear systems. Not only does the controller provide stable asymptotic tracking, it also ensures that the transient error will be within a prespecified bound. This achieved by using a novel approach of stable inversion. In this approach, the nonminimum phase system is first stably inverted to obtain desired (and stable) state and input trajectories that map exactly into the reference trajectory. With this, the nonminimum phase control problem is converted into a minimum phase one. Then a feedback controller is designed to stabilize the closed- loop system and to ensure robustness to certain types of uncertainties. This research is expected to make significant contributions to the tracking problem as well as the basic understanding of nonlinear systems. The new procedures developed can be applied to many engineering problems, such as aircraft control, rocket control, medical equipment, nondestructive evaluation, leading to superior performance and economic benefits. ***