..., however, is still an open question. In this paper, such control signal is obtained constructively and, combined with feedback, is shown to be rather effective in controlling the system in the presence of model uncertainties and external disturbances, as shown in simulation. nonminimum phase system...

... manipulators position control tracking cooperative systems stability inverse problems manipulator dynamics actuators torque redundant manipulators nonlinear control systems nonlinear dynamical systems Flexible Manipulators Inversion Control Zero Dynamics Nonminimum Phase System Internal...