A New Method for the Self-Tuning Control of Nonminimum Phase Discrete-Time Systems in the Presence of Disturbances

Abstract

We present a new method for the self-tuning control (STC) of nonminimum phase discrete-time systems based on the pole-zero placement. We show that the effect of unstable zeros on the output can be canceled approximately. The long division method is used to decompose a polynomial into a stable polynomial and an unstable one. Finally, the results of computer simulation are presented to illustrate the effectiveness of the proposed method.