On a Benchmark in Output Regulation of Non-Minimum Phase Systems

Output regulation for non-minimum phase nonlinear systems is still a largely open problem, with only a few results in the literature covering a few specific cases. This paper explores the design of a state-feedback regulator for a basic non-minimum phase benchmark system that, nevertheless, already embodies many of the challenges and difficulties linked to the lack of minimum phase. Although the developed solution only provides local regulation guarantees for this specific benchmark, it nonetheless suggests a path for the successive development of a systematic regulation theory for non-minimum phase systems in normal form. In turn, this paper is a first step in such a direction.