Output-boundary regulation for nonminimum-phase systems

This article seeks to bound the effects of disturbances on the output by considering an output-boundary regulation (OBR) problem. If a-priori (preview) information of the disturbance is available, feedforward approaches can overcome limits of feedback methods for nonminimum-phase systems. The main contribution of this article is to develop a feedforward-based control approach for nonminimum-phase systems when the disturbance is not known a-priori. Furthermore, the performance of the proposed approach is quantified by providing the acceptable disturbance for a given output-error bound. The method is illustrated with simulation results for a benchmark flexible structure example.