On partially minimum phase systems and disturbance decoupling with stability

Mattia Mattioni (1) , Marwa Hassan (1) , Salvatore Monaco (1) , Dorothée Normand-Cyrot (2)

1 UNIROMA - Università degli Studi di Roma "La Sapienza" = Sapienza University [Rome]
2 L2S - Laboratoire des signaux et systèmes

In this paper, we consider the problem of disturbance decoupling for a class of non-minimum phase nonlinear systems. Based on the notion of partially-minimum phaseness, we shall characterize all actions of disturbances which can be decoupled via a static state feedback while preserving stability of the internal residual dynamics. The proposed methodology is then extended to the sampled-data framework via multi-rate design to cope with the rising of the so-called sampling-zero dynamics intrinsically induced by classical single-rate sampling.

Domaines: Automatique / Robotique

Mattia Mattioni, Marwa Hassan, Salvatore Monaco, Dorothée Normand-Cyrot. On partially minimum phase systems and disturbance decoupling with stability. Nonlinear Dynamics, 2019, ⟨10.1007/s11071-019-04999-3⟩. ⟨hal-02122347⟩