Approximate model matching for nonminimum phase plants

In the purely continuous time domain design, exact model matching cannot be achieved for nonminimum phase plants. Introducing a suitable precompensator, the augmented plant is well approximated by a minimum phase transfer function plus delay time. It is assumed that a reference model with the same delay time is prepared. Then, the exact model matching algorithm for delay plants can be applied. As the result, well approximated model matching is achieved