A design method for diagonalizing stable filtered inverse systems for nonlinear systems

摘要

This paper considers a design method for diagonalizing stable filtered inverse systems for non-linear systems, which reproduce the input signal to the system approximately. The inverse system must be stable in practical applications. It is well known that the inverse system for linear systems is unstable if the system has invariant zeros in the right half plane. Yamada and Watanabe presented a state space design method of stable filtered inverse systems for strictly proper linear systems with some right half plane invariant zeros. However, the series connected system with the system and filtered inverse system is not always diagonal rational function. Yamada and Ki-noshita proposed a design method for stable filtered inverse systems such that the series connected system with the system and filtered inverse system is not always diagonal rational function. However a design method for stable filtered inverse systems for nonlinear systems has not been considered yet. The purpose of this paper is to propose a design method for stable filtered inverse systems for nonlinear systems such that the series connected system with the system and stable filtered inverse system is a diagonal function. We construct preliminary the filtered inverse system by usual method and factorize the filtered inverse systems to several subsystems. The stable filtered inverse system is obtained using observer design for subsystems of the filtered inverse system.