MIMO非线性最小相位系统的光滑调节
Smooth Output Regulation of Minimum Phase Nonlinear Systems
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摘要: 本文研究多输入多输出非线性最小相位系统的光滑调节问题,得到的主要结论是:对合 的在原点具有相对阶的局部双曲最小相位系统能渐近跟踪满足某种有界条件的局部Lyapunov 稳定的信号.一类具有一致相对阶的全局指数稳定的最小相位系统,若满足某种类似的 Lipschitz条件,则能渐近跟踪一类很广泛的信号,既可以是Poisson稳定的,也可以是无界 的.Abstract: The smooth output regulation problem of minimum phase nonlinear systems is investigated in this paper. A more reasonable definition is presented at first. It is shown that if the involutive local hyperbolic minimum phase systems have a relative degree at the origin can asymptotically track Lyapunov stable signal which satisfies a certain bounded condition; the globally exponentially stabla minimum phase systems have a relative degree uniformly, under certain Lipschitz condition it can asymptotically track a wide class signal which needn't be Poisson stable or bounded.
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Key words:
- zero dynamics /
- minimum phase /
- nonlinear systems /
- I/O stability
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