Path-following for linear systems with unstable zero dynamics

被引：16
|
作者：
Dacic, Dragan B. [1 ]
Kokotovic, Petar V.
机构：
[1] Univ Melbourne, Dept Elect & Elect Engn, Parkville, Vic 3010, Australia
[2] Univ Calif Santa Barbara, Dept Elect & Comp Engn, Santa Barbara, CA 93106 USA
来源：
AUTOMATICA | 2006年 / 42卷 / 10期
关键词：
path-following; reference tracking; unstable zero dynamics;
D O I：
10.1016/j.automatica.2006.05.014
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A constructive solution to the path-following problem for MIMO linear systems with unstable zero dynamics is developed. While the original control variable steers the system output along the path, the path parameter 0 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 L-2 norm of path-following error can be achieved, thus avoiding performance limitations of the standard reference tracking problem imposed by unstable zero dynamics. (C) 2006 Elsevier Ltd. All rights reserved.
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页码：1673 / 1683
页数：11
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