Ramp Tracking in Systems With Nonminimum Phase Zeros: One and a Half Integrator Approach

Abstract

In this paper, a simple fractional calculusbased control law is proposed for asymptotic tracking of ramp reference inputs in dynamical systems. Without need to add any zero to the loop transfer function, the proposed technique can guarantee asymptotic ramp tracking in plants having nonminimum phase zeros. The appropriate range for determining the parameters of the proposed control law is also specified. Moreover, the performance of the designed control system in tracking ramp reference inputs is illustrated by different numerical examples.