A NEW METHOD OF LQ INTEGRAL CONTROL, FOR NONMINIMUM PHASE SYSTEMS

The right half plane (RHP) zeros may cause severe problems, such as undershoots, oscillations and time delay in the transient response of the systems. In this paper, we formulate a linear quadratic type problem to deal with the effects of the RHP zeros in the nonminimum phase systems. Based on the LQ formulation, this paper shows the trade-off relation between undershoot and rising time performances in nonminimum phase systems by using a new performance index which consists of new state and tracking error. And performances of the proposed method are shown via computer simulations.