Automatica, Vol.64, 208-216, 2016
Design of stable parallel feedforward compensator and its application to synchronization problem
This paper addresses the design problem of a stable parallel feedforward compensator V for a given SISO LTI plant P (possibly being of non-minimum phase and/or having relative degree greater than one). The objective of the problem is that their parallel interconnection P + V becomes minimum phase having relative degree one. Based on the classical results of simultaneous stabilization, a necessary and sufficient condition for solving the problem is presented as well as a design procedure for constructing such a compensator. The proposed feedforward compensator allows the control system to have the three useful features: (1) the ability that assigns the zeros of P + V to a region of complex numbers having arbitrary negative real parts, (2) infinite gain margin property of P + V controlled by a static output feedback, and (3) block diagonal structure of P +V. These features are extensively exploited in the synchronization problem of multi-agent systems to achieve arbitrary fast convergence rate and to have the synchronized trajectory independent of the initial conditions and parameters of the involved dynamic controllers. (C) 2015 Elsevier Ltd. All rights reserved.