A Study on the Class of Model Feedback Controllers Formultiple-Input/Multiple-Output Non-Minimum Phase System

Abstract

In the present paper, we examine model feedback control systems (MFCSs). BecauseMFCS is simple, the MFCS has been applied in many applications such as the trajectorycontrol of robot manipulators, serially connected water tanks, etc. The control structure of theMFCS is limited, but Yamada and Moki reported about whether or not MFCS can representall stabilizing controllers of a minimum phase plant. However, no research has been reportedwhether or not MFCS can represent all stabilizing controllers of a non-minimum phase plant.The purpose of the present paper is to give a solution to the question as to whether or not allstabilizing controllers for a plant are expressible in the MFCS structure. The relation betweenMFCS and the parameterization of all stabilizing controllers for a class of non-minimum phasemultiple-input/multiple-output plants is shown. A simple design method to specify controlcharacteristics is also presented.