Feedforward control can enhance the performances in the control and regulation of dynamic systems. With this aim, a new inversion formula to solve the stable input-output inversion problem is presented for multivariable nonminimum-phase linear systems. It is based on the computation of the system transfer function inverse and the splitting of the zero dynamics transfer function into stable and unstable parts. Differently from the known alternative state-space methods, the presented approach is applicable to systems that cannot be input-output decoupled by state feedback.
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