| A novel approach is developed for output feedback tracking in nonminimum phase, MIMO, uncertain, nonlinear systems with enhanced causality. The presented control methodology employs the sliding mode techniques and the principles of least-squares estimation. The local asymptotic stability of the output tracking error dynamics, along with boundedness of the internal states are proven. The full state vector and the matched external disturbance are reconstructed. Two case studies, the causal output tracking in the nonminimum phase boost DC/DC converter and the power factor correction in the 3-phase boost AC/DC electric power converter, are considered. The complete design solution comprises guidelines for the control law implementation. |
