Additive-state-decomposition-based tracking control framework for a class of nonminimum phase systems with measurable nonlinearities and unknown disturbances

This paper aims to propose an additive-state-decomposition-based tracking control framework, based on which the output feedback tracking problem is solved for a class of nonminimum phase systems with measurable nonlinearities and unknown disturbances. This framework is to additively' decompose the output feedback tracking problem into two more tractable problems, namely an output feedback tracking problem for a linear time invariant system and a state feedback stabilization problem for a nonlinear system. Then, one can design a controller for each problem respectively using existing methods, and these two designed controllers are combined together to achieve the original control goal. The main contribution of the paper lies on the introduction of an additive state decomposition scheme and its implementation to mitigate the design difficulty of the output feedback tracking control problem for nonminimum phase nonlinear systems. To demonstrate the effectiveness, an illustrative example is given. Copyright (c) 2013 John Wiley & Sons, Ltd.