Path-following for linear systems with unstable zero dynamics

نویسندگان

  • Dragan B. Dacic
  • Petar V. Kokotovic
چکیده

A path-following problem for linear systems with unstable zero dynamics is solved. While the original control variable steers the system output along the path, the path parameter θ is used as an additional control to stabilize zero dynamics with a feedback law which is nonlinear due to the path constraint. A sufficient condition for solvability of the path-following problem is given in terms of the geometric properties of the path. When this condition is satisfied, an arbitrary small L2 norm of path-following error can be achieved. Copyright c ©2005 IFAC.

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عنوان ژورنال:
  • Automatica

دوره 42  شماره 

صفحات  -

تاریخ انتشار 2006