CONTROL FOR UNSTABLE NONMINIMUM-PHASE UNCERTAIN DYNAMIC VEHICLE

A control algorithm for control of Linear uncertain system is presente d This algorithm is applied to the control of an unstable nonminimum p hase uncertain dynamic vehicle. The algorithm is based on the state an d parameters observability canonical (SPOC) form and a certainty equiv alence pole placement controller. The algorithm provides single contro ller for the problem of the uncertain dynamic vehicle that approaches the performance of a controller designed for perfectly known parameter s within the whole range of the plant's parameters uncertainty. The al gorithm is globally bounded input bounded output stable and needs only the knowledge of the order of the plant. The algorithm is presented a nd its performance is demonstrated by simulations.