Nonlinear non-minimum phase output tracking via output re-definition and learning control

Abstract

A controller is developed to achieve precise tracking control of single-input single-output nonlinear non-minimum phase systems affine in the control input. The nonlinear systems considered are assumed to have uncertainties present. The developed controller makes novel use of feedback linearization, output re-definition, and repetitive learning control. Effectiveness of the controller is demonstrated experimentally on an underactuated mechanical system.