Details of Grant 

EPSRC Reference:	GR/R51667/01
Title:	Nonminimum Phase Output Tracking Via Method of Stable System Centre
Principal Investigator:	Zinober, Professor ASI
Other Investigators:
Researcher Co-Investigators:	Professor Y Shtessel
Project Partners:
Department:	Mathematics and Statistics
Organisation:	University of Sheffield
Scheme:	Standard Research (Pre-FEC)
Starts:	16 November 2001	Ends:	15 February 2002	Value (£):	10,972
EPSRC Research Topic Classifications:	Control Engineering
EPSRC Industrial Sector Classifications:
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Panel History:
Summary on Grant Application Form
Nonminimum phase output tracking is a challenging, real-life control problem that has been extensively studied recently. One of the most interesting aspects, from the theoretical and practical point of view, is to provide nonlinear nonminimum phase output-tracking, which is robust and causal. This approach admits the uncertain mathematical model of the plant and uncertainty of the trajectory to be followed. Use of the sliding mode control technique for the nonminimum phase output tracking could be beneficial for improving robustness of the tracking. The main problem to be resoved for the sliding mode controller design is related to a stable inversion of an uncertain nonlinear plant with unstable zero dynamics and real-time tracking profile. It proposed to address the problem using the method of system centre that is to be dynamically extended to provide for stability. The proposed method is named method of stable system centre . In nonminimum phase backstepping-type control systems, an important issue is to provide a socalled virtual control signal to be smooth in an outer loop, for it has to be tracked by inner cascades of a multi-loop system. It is proposed to develop a second order smooth finite reaching time sliding mode controller that robustly terminally stabilizes the sliding surface designed for nonminimum phase output tracking. Expected advantage is in obtaining a method that, having an enhanced accuracy of a second order sliding mode controller, provides a smooth control. This feature is of extreme importance for backstepping-type mutiple loop sliding mode control systems.
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Organisation Website:	http://www.shef.ac.uk