Title :
A note on zeros of nonlinear systems: inferring sliding surface selection from the zero-dynamics algorithm
Author :
Di Benedetto, M.D. ; Slotine, J. J E
Author_Institution :
Istituto Univ. Navale, Napoli, Italy
Abstract :
A simple condition for the output reproducibility of a given trajectory, and an associated control law, are derived on the basis of the zero-dynamics algorithm. If the output reproducibility condition is not satisfied and/or uncertainties are present, sliding control is shown to perform asymptotic tracking whenever the zero-dynamics of an extended system, related to the given system and to the reference trajectory, satisfies some stability properties. The choice of an appropriate sliding surface is inferred from the inversion algorithm
Keywords :
nonlinear systems; poles and zeros; stability; asymptotic tracking; nonlinear systems; output reproducibility; sliding control; sliding surface selection; stability; zero-dynamics algorithm; zeros; Asymptotic stability; Control systems; Differential equations; Laboratories; Nonlinear control systems; Nonlinear dynamical systems; Nonlinear systems; Reproducibility of results; Trajectory; Uncertainty;
Conference_Titel :
Decision and Control, 1988., Proceedings of the 27th IEEE Conference on
Conference_Location :
Austin, TX
DOI :
10.1109/CDC.1988.194443
