Path-following for linear systems with unstable zero dynamics

: A path-following problem for linear systems with unstable zero dynamics is solved. While the original control variable steers the system output along the path, the path parameter is used as an additional control to stabilize zero dynamics with a feedback law which is nonlinear due to the path constraint. A sufficient condition for solvability of the path-following problem is given in terms of the geometric properties of the path. When this condition is satisfied, an arbitrary small L2 norm of path-following error can be achieved. Copyright c 2005 IFAC.

• Type: Journal
• Year: 2006
• Where: AUTOMATICA
• Authors: Dragan B. Dacic, Petar V. Kokotovic
• Keywords: AUTOMATICA 2006, Control Variable Steers, Path Parameter, Unstable Zero Dynamics