Zero dynamics and tracking performance limits in nonlinear feedback systems

• Type: Chapter or Part of a Book
• Date: 2008

Authors

Aguiar, AP (Author) Other; Hespanha, JP (Author) Other; Kokotovic, PV (Author) Other

Book

Title: Analysis and Design of Nonlinear Control Systems: In Honor of Alberto Isidori

Pages: 149-159

ISBN: 9783540743576

Indexing

ISI Web of Knowledge

Scopus - 2 Citations

Other information

Authenticus ID: P-008-FFW

DOI: 10.1007/978-3-540-74358-3_10

Abstract (EN): Among Alberto Isidori's many seminal contributions, his solution of the nonlinear tracking problem and the underlying concept of zero dynamics have had the widest and strongest impact. Here we use these results to investigate and quantify the limit to tracking performance posed by unstable zero dynamics. While some aspects of this limit are nonlinear analogs of Bode's T-integral formula, the dependence on the exosystem dynamics is an added complexity of nonlinear tracking. © 2008 Springer-Verlag.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 11