Input-output feedback linearization for nonminimum phase nonlinear systems through periodic use of synthetic outputs

Input-output feedback linearization provides a convenient means of extending linear control strategies such as output zeroing or pole placement to the case of nonlinear affine in the input systems, but such extensions cannot be applied in the presence of nonminimum phase characteristics. This paper overcomes this difficulty through the periodic use of a finite number of synthetic outputs which are so constructed as to define embedded dynamics with stable zero dynamics. The efficacy of the method is demonstrated by means of a numerical example.