Multi-output maps with associated asymptotically stable zero dynamics

摘要

Conceptions of relative degree and minimum phase are connected to many control problems. To apply these conceptions one needs to know an output map which renders an affine system to be minimum phase. Necessary and sufficient conditions of the existence of such outputs are presented in the multy-output case. Obtained conditions result in new setting of the stabilization problem and in a new set of static and dynamic stabilizing feedbacks. Lyapunov functions are designed for close-loop systems. An example of a hovercraft stabilization is considered.