OUTPUT STABILIZATION FOR NONMINIMUM-PHASE SYSTEMS USING OBSERVER BACKSTEPPING

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Abstract

The article considers stabilization of the output programmed trajectory in nonminimum-phase dynamical systems of a special kind with unstable linear zero dynamics. An algorithm is proposed for the construction of a stabilizing control by observer backstepping. The backstepping method is generalized to nonminimum-phase nonlinear dynamical systems.

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