Adaptive Robust Control of MIMO Nonlinear System with Non-minimum Phase

An adaptive robust controller is presented for a non-minimum phase uncertain nonlinear system.Firstly,the nonlinear system is transformed with an equivalent coordinate transformation into an equivalent system which has stable zero-dynamics.Then,an adaptive robust controller is designed for the equivalent system,and asymptotic stability of the closed-loop system is proved with robust-passive principle and Lyapunov theory.Finally,an example is designed with the presented method,and the result shows that the presented method is a new method to stabilize this kind of non-minimum phase nonlinear systems.