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arXiv · 2501.00172

Algebraic Control: Complete Stable Inversion with Necessary and Sufficient Conditions

Burak Kürkçü·Masayoshi Tomizuka
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Abstract

In this paper, we establish necessary and sufficient conditions for stable inversion, addressing challenges in non-minimum phase, non-square, and singular systems. An H-Infinity based algebraic approximation is introduced for near-perfect tracking without preview. Additionally, we propose a novel robust control strategy combining the nominal model with dual feedforward control to form a feedback structure. Numerical comparison demonstrates the approach's effectiveness.

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Burak Kürkçü, Masayoshi Tomizuka. 2024-12-30. Algebraic Control: Complete Stable Inversion with Necessary and Sufficient Conditions. https://arxiv.org/abs/2501.00172

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