A survey on the control of nonlinear non-minimum phase systems

Nonlinear non-minimum phase systems have unstable zero dynamics or internal dynamics, their non-minimum phase property restricts the direct application of many powerful nonlinear control techniques, such as backstepping, feedback linearization, and sliding mode control. So the control of non-minimum phase systems is more difficult than that of minimum phase systems, and is one of the challenging issues in the control theory and engineering applications. This research summarizes the existing results of nonlinear non-minimum phase systems, and focuses on the topics including the origin of non-minimum phase systems, their characteristics and the solution methods of ideal internal dynamics. The control methods of stabilization, trajectory tracking and path following are analyzed and compared as well. Finally, the problems to be solved and the research trends are prospected at the end of the paper.