On partially minimum phase systems and disturbance decoupling with stability
Résumé
In this paper, we consider the problem of disturbance decoupling for a class of non-minimum phase nonlinear systems. Based on the notion of partially-minimum phaseness, we shall characterize all actions of disturbances which can be decoupled via a static state feedback while preserving stability of the internal residual dynamics. The proposed methodology is then extended to the sampled-data framework via multi-rate design to cope with the rising of the so-called sampling-zero dynamics intrinsically induced by classical single-rate sampling.
Domaines
Automatique / RobotiqueOrigine | Fichiers produits par l'(les) auteur(s) |
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