Singular PDEs and the assignment of zero dynamics in nonlinear systems
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The present research work aims at the development of a systematic method to arbitrarily assign the zero dynamics of a nonlinear system by constructing the requisite synthetic output maps. The minimum-phase synthetic output maps constructed can be made statically equivalent to the original output maps, and therefore, they could be directly used for nonminimum-phase compensation purposes. Specifically, the mathematical formulation of the problem is realized via a system of first-order nonlinear singular PDEs and a rather general set of necessary and sufficient conditions for solvability is derived. The solution to the above system of singular PDEs can be proven to be locally analytic and this enables the development of a series solution method that is easily programmable with the aid of a symbolic software package. The minimum-phase synthetic output maps that induce the prescribed zero dynamics for the original nonlinear system can be computed on the basis of the solution of the aforementioned system of singular PDEs. Moreover, static equivalence to the original output map can be readily established by a simple algebraic construction. 2003 Elsevier B.V. All rights reserved.