1. Passivity based stabilization of non-minimum phase nonlinear systems
- Creator:
- Travieso-Torres, Juan C., Duarte-Mermoud, Manuel A., and Zagalak, Petr
- Format:
- bez média and svazek
- Type:
- model:article and TEXT
- Subject:
- nonlinear systems, stabilization, passivity, and state feedback
- Language:
- English
- Description:
- A cascade scheme for passivity-based stabilization of a wide class of nonlinear systems is proposed in this paper. Starting from the definitions and basic concepts of passivity-based stabilization via feedback (which are applicable to minimum phase nonlinear systems expressed in their normal forms) a cascade stabilization scheme is proposed for minimum and non-minimum phase nonlinear systems where the constraint of stable zero dynamics imposed by previous stabilization approaches is abandoned. Simulation results of the proposed algorithm are presented to demonstrate its performance.
- Rights:
- http://creativecommons.org/publicdomain/mark/1.0/ and policy:public