On nonlinear systems with poorly behaved zero dynamics

Frank J. Doyle, Frank Allgöwer, Simone Loureiro De Oliveira, Ernst Dieter Gilles & Manfred Morari
The present work adresses the problem of synthesizing nonlinear state feedback controllers for nonlinear, nonminimum-phase processes in three different ways. The first approach consists of a partial linearization which preserves stability by using an approximate stable/anti-stable factorization. The second technique can be viewed as an inner-outer factorization based approach. And, finally, in the single-output case, it is shown (through an example) that stabilization of the internal dynamics of a nonminimum-phase system can be achieved by...
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