Model reference robust control for non-minimum phase systems with disturbances

In this paper, a new design technique of the model reference robust control is proposed for non-minimum phase (with respect to the relation between th e disturbance and output) continuous-time dynamical systems with disturbanc es. The designed controller requires only input and output measurements of the system. By using the estimate of a special signal generated by the dist urbance, an intermediate control input is determined. Then, to assure the b oundedness of the input and output, the model reference robust control inpu t is designed to minimize the difference between the controlled system outp ut and the desired output. Design example and simulation results are presen ted to show the practicality and effectiveness of the proposed algorithm.