Title :
Approximate input-output linearization of nonminimum phase nonlinear systems
Author_Institution :
Inst. fur Automatik, ETH Zurich, Zürich, Switzerland
Abstract :
In this paper a novel method for the design of input-output linearizing feedback laws for nonlinear systems with unstable zero-dynamics is presented. The approach is based on a suitable stable/antistable factorization of the zero-dynamics and guarantees internal stability of the compensated system. In general an exact I/O-linearization of nonminimum phase systems will not be possible. If a nonlinear system does not permit an exact I/O-linearization with internal stability, then the method presented will allow to approximately linearize the I/O-behavior up to the maximally possible approximation order.
Keywords :
control system synthesis; feedback; input-output stability; linearisation techniques; nonlinear control systems; I/O-behavior; I/O-linearization; antistable factorization; approximate input-output linearization; approximation order; compensated system; input-output linearizing feedback law design; internal stability; nonminimum phase nonlinear systems; stable factorization; unstable zero-dynamics; Approximation methods; Eigenvalues and eigenfunctions; Jacobian matrices; Linearity; Nonlinear systems; Standards; State feedback; I/O-linearization; feedback stabilization; nonlinear control; nonminimum phase systems;
Conference_Titel :
Control Conference (ECC), 1997 European
Conference_Location :
Brussels
Print_ISBN :
978-3-9524269-0-6
