Path-following for nonlinear systems with unstable zero dynamics
Dragan B Dacic, Dragan Nesic, Petar V Kokotovic
IEEE TRANSACTIONS ON AUTOMATIC CONTROL | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC | Published : 2007
In the path-following problem formulated in this note, it is required that the error between the system output and the desired geometric path eventually be less than any prespecifled constant. If in a nonlinear multiple-input-multiple- output (MIMO) system the output derivatives do not enter into its zero dynamics, a condition relating path geometry and stabilizability of the zero dynamics is given under which a solution to this problem exists. The solution is obtained by combining input-to-state stability and hybrid system methodologies. © 2007 IEEE.