The VSS approach to the model reference control of nonminimum phase linear plants

A nontrivial application of the discontinuous control system theory, based on Filippov´s solution concept, is presented. The problem addressed is the model reference output feedback control of linear plants with non-Hurwitzian numerator in the transfer function. A solution in the case of known systems is presented first. An error state equation, whose state is accessible, is then derived for the case in which the plant parameters are unknown. In the case in which some bounds on the plant characteristics are supposed known, a pair of discontinuous signals acting on both the plant and the model is chosen, causing the error state to vanish asymptotically