Tracking control of non-minimum phase systems: a kernel-based approach

Mohammadmahdi Mehrabi and Keivan Ahmadi

International Journal of Systems Science, 2025, vol. 56, issue 1, 1-17

Abstract: Feedforward control with model inversion is a widely-used solution for high-precision output tracking. However, because inverting a non-minimum phase model generates unbounded control input, model-inversion only applies to limited types of systems. This paper presents a new non-parametric pseudo-inversion approach to design bounded optimal control input with desirable properties for arbitrary types of systems. Closed-form equations are presented for the batch (full preview) and recursive (limited preview) implementations of this approach, and its performance is compared against existing pseudo-inversion methods in benchmark numerical examples. Furthermore, the practical implementation of the proposed method is demonstrated by designing a feedforward controller for a commercial 3-Dimensional (3D) printer. The results show that the proposed approach effectively compensates for the structural vibrations of the printer, preventing layer-shifting errors that usually happen during high-speed printing.

Date: 2025
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DOI: 10.1080/00207721.2024.2377757

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