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.

引用

页码：1673 / 1683

页数：11

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