An Algebraic Approach To Zero Dynamics of Nonlinear Mimo Systems

摘要

In the paper one important concept in systems theory, the zero dynamics, is discussed for nonlinear systems. In analogy to the linear case the zero dynamics cannot be influenced by feedback, what makes it a crucial property for systems analysis and controlller design. The determination of the zero dynamics in the usual differential geometric way is a well known procedure, which possesses some inconvenient characterisitcs. Especially an automated run down with help of computer algebra systems is critical due to some regularity assumptions. Therefore a differential algebraic approach is developed within this paper, which derives the dimension of the zero dynamics as well as the zero dynamics itself.