INVERTIBILITY OF SYSTEMS WITH UNSTABLE ZERO DYNAMICS

We consider the problem of robust inversion of an uncertain dynamical system with unstable zero dynamics. The solution of the problem is reduced to estimating in real time the bounded solution of an unstable linear differential equation. Estimation algorithms are proposed for one- and two-output systems. Convergence of the inversion algorithms is assessed and the effect of observation errors on the algorithms, i.e., their robustness, is investigated.