Optimal Feedforward Design for a Class of Non-minimum Phase Integrating Systems with Time Delay

In this paper, an optimal feedforward controller is addressed for a class of non-minimum phase integrating systems with time delay. Firstly, the drawbacks of the classical feedforward design for such systems including being non-realizable, are highlighted and then, a technique is presented to cope with such difficulties. By decomposing plant to two individual parts, a new configuration is suggested that converts the non-minimum system to an augmented minimum phase one. The resulting integrating system is then handled by a suitable form of the feedforward controller. To tune the controller in an optimal fashion, an algorithm is presented that seeks for a parameter that minimizes the ISE index. The effectiveness of the proposed control design is validated by a numerical example.