A morphing method for exact tracking control of nonminimum phase non linear systems

This paper presents a method for non causal exact dynamic inversion for non minimum phase nonlinear systems, which seems alternative to those existing in literature. The method is based on a morphing procedure which allows to find a periodic solution of a desired equation by a continuous deformation of a known periodic solution of a simpler auxiliary system. This method allows to face the tracking problem for a class of systems which are well-known in literature, such as the inverted pendulum,the VTOL aircraft, the motorcycle and the CTOL aircraft.