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Journal Article

Passivity Based Stabilization of Non-minimum Phase Nonlinear Systems

Travieso-Torres J.C., Duarte-Mermoud M.A., Zagalak Petr

: Kybernetika vol.45, 3 (2009), p. 417-426

: CEZ:AV0Z10750506

: GA102/07/1596, GA ČR

: nonlinear systems, stabilisation, passivity, state feedback

: http://library.utia.cas.cz/separaty/2009/AS/zagalak-passivity based stabilization of non-minimum phase nonlinear systems.pdf

(eng): 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.

(cze): 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.

: BC

2019-01-07 08:39