非最小位相系に対するERIT

抄録

In this paper, we expand ERIT to non-minimum phase systems. The key idea is to embed a model of the non-minimum phase part of a plant into both of the model implemented in the feedfoward controller and the desired tracking transfer function. To do this, we use inner-outer factorization as a model of the non-minimum phase part if the structure of the nonminimum phase part known. Otherwise, we approximate the non-minimum phase part of a plant by using Laggurre expansion or time delay. Embedding these model of nonminimum phase part to ERIT, the proposed method yields a desired tracking controller by using only the initial output data and other available information except the model of the plant. Numerical examples are given to show the validly of proposed method.