Perfect tracking for non-minimum phase systems

A controller architecture is developed that can provide perfect reference tracking for both minimum phase and non-minimum phase systems with time delays when there are no modeling errors or external disturbances. The perfect tracking property is obtained by factoring the plant into its minimum phase and non-minimum phase components. These components are used to design two feedforward controllers that share information between them. Design constraints are provided that determine both the types of signals that may be tracked perfectly and the feedforward controllers that will provide the perfect tracking. Robust analysis tools are derived that may be used to guide the design process. A method for adapting the feedforward components in real-time is demonstrated to show the potential performance improvement gained from online system identification.