Generalized “inverted interactorizing” of linear multivariable non-minimum phase systems by state feedback

In this paper, a generalized interactor is defined for non-minimum phase systems which represents not only zeros at infinity, as for the conventional interactor, but also unstable finite zeros of a given plant. Then, a state feedback which makes a closed loop transfer matrix the inverse of a generalized interactor is presented. Since any unstable zero of a plant is not canceled in this closed loop system, it can be regarded as a generalization of the “inverted interactorizing” control with internal stability for linear multivariable non-minimum phase systems. This can be reduced to an internally stable decoupling control by a state feedback for non-minimum phase plant if its generalized interactor is diagonal