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In this paper, we establish necessary and sufficient conditions for stable inversion, addressing challenges in non-minimum phase, non-square, and singular systems. An H_-based algebraic approximation is introduced for near-perfect tracking without preview. Additionally, we propose a novel robust control strategy combining the nominal model with dual feedforward control to form a feedback structure. Numerical comparison demonstrates the approach's effectiveness.
Kürkçü et al. (Tue,) studied this question.