Noncausal stable inverse of SISO systems with nonminimum phase and its application to inverse dynamics of flexible arms

The stable noncausal inversion of a class of single-input single-output (SISO) distributed parameter systems is studied theoretically. An easily checkable criterion for the existence of stable inverse systems is established, and its application to a flexible link system gives insight into the inverse dynamics, provides a better understanding of the well-posedness of the inverse dynamics, and explicitly clarifies the necessary constraint of the stability of inverse dynamics on the output variable design which plays an important role in the procedure of integrated output-variable/inverse-dynamic-control design.>