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Passivity Based Stabilization of Non-minimum Phase Nonlinear Systems
- 1.0324503 - ÚTIA 2010 RIV CZ eng J - Journal Article
Travieso-Torres, J.C. - Duarte-Mermoud, M.A. - Zagalak, Petr
Passivity Based Stabilization of Non-minimum Phase Nonlinear Systems.
[Stabilizace nelineárních systémů s neminimální fází pomocí pasivity.]
Kybernetika. Roč. 45, č. 3 (2009), s. 417-426. ISSN 0023-5954
R&D Projects: GA ČR(CZ) GA102/07/1596
Institutional research plan: CEZ:AV0Z10750506
Keywords : nonlinear systems * stabilisation * passivity * state feedback
Subject RIV: BC - Control Systems Theory
Impact factor: 0.445, year: 2009
http://library.utia.cas.cz/separaty/2009/AS/zagalak-passivity based stabilization of non-minimum phase nonlinear systems.pdf
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.
V článku je navrženo kaskádní schéma pro stabilizaci velké třídy nelineárních systémů pomocí pasivity. Dosažené výsledky platí i pro systémy, jejichž tzv. zero dynamics není stabilní. V závěru článku jsou uvedeny simulační výsledky ukázkového příkladu.
Permanent Link: http://hdl.handle.net/11104/0172189
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