Passification of SISO LTI systems through a stable feedforward compensator

The paper addresses the design problem of a parallel feedforward compensator for a class of SISO LTI systems, that renders the augmented system to be of minimum phase and have relative degree one. The plant can be of nonminimum phase and/or have high relative degree. Under these setups, we derive an existence condition of a stable feedforward compensator and propose a design algorithm based on the simultaneous stabilization of two systems. An illustrative example is also given.