Title :
On the assignment of zero dynamics for input-affine nonlinear systems
Author :
Schwarz, H. ; Senger, M.
Author_Institution :
Dept. of Meas. & Control, Univ. of Duisburg, Duisburg, Germany
fDate :
Aug. 31 1999-Sept. 3 1999
Abstract :
This paper deals with the problem of modifying the zero dynamics of input-affine nonlinear systems. The procedure is based upon a recently proposed multistage synthesis process, extended to nonlinear systems. In this case the zero dynamics and eigendynamics of a given nonlinear system can be arbitrarily modified within the bounds of an operating point. The application to a real system - a hydraulic translatory drive - in the laboratory shows that the procedure is also sufficiently robust for wider operating ranges.
Keywords :
control system synthesis; eigenvalues and eigenfunctions; nonlinear control systems; zero assignment; eigendynamics; hydraulic translatory drive; input-affine nonlinear system; multistage synthesis process; zero dynamics assignment; Adaptive control; Jacobian matrices; Linear systems; Nonlinear dynamical systems; State feedback; Zero dynamics; input-affine nonlinear systems; nonlinear approximation;
Conference_Titel :
Control Conference (ECC), 1999 European
Conference_Location :
Karlsruhe
Print_ISBN :
978-3-9524173-5-5
