A homotopy method for exact output tracking of some non-minimum phase nonlinear control systems

摘要

This paper presents a method for non-causal exact dynamic inversion for a class of non-minimum phase nonlinear systems, which seems to be an alternative to those existing in the literature. This method is based on a homotopy procedure that allows to find a 'small' periodic solution of a desired equation by a continuous deformation of a known periodic solution of a simpler auxiliary system. This method allows to face the exact output tracking problem for some non-minimum phase systems that are well known in the literature, such as the inverted pendulum, the motorcycle and the CTOL aircraft. Copyright (c) 2008 John Wiley & Sons, Ltd.