Perfect Tracking of a Non-minimum Phase MIMO System

In this paper, the problem of designing an optimal feedforward control to reach perfect tracking for a Non-Minimum Phase (NMP) Multi-Input Multi-Output (MIMO) system is considered. For this purpose, a feedforward compensator with a control structure along with an $\mathrm{H}_{\infty}$ controller is proposed. The method is employed on a benchmark circuit designed to test different control methods for NMP systems.