Stable robust tracking of non-minimum phase systems

Addresses the problem of tracking for linear systems with non-Hurwitzian numerator in the transfer function using the theory of variable structure control. Two methods are proposed which are applications of variable structure theory and sliding mode control. The first method is based on Filippov´s solution of equivalent control. In this, the non-minimum phase plant is expressed in the observable canonical form. Design procedure in the second method is for single-input/single-output systems. Examples are given for illustration of the effectiveness of the methodologies