INVERSION AND ZERO DYNAMICS IN NONLINEAR MULTIVARIABLE CONTROL Academic Article uri icon

abstract

  • This work concerns general multipleinput/multipleoutput (MIMO) nonlinear systems with nonsingular characteristic matrix. For these systems, the problem of inversion is revisited and explicit formulas are derived for the fullorder and the reduced inverse system. The reduced inverse naturally leads to an explicit calculation of the unforced zero dynamics of the system and the definition of a concept of forced zero dynamics. These concepts generalize the notion of transmission zeros for MIMO linear systems in a nonlinear setting. Chemical engineering examples are given to illustrate the calculation of zero dynamics. Input/output linearization is then interpreted as canceling the forced zero dynamics of the system, and precise internal stability conditions are derived for the closedloop system. Copyright 1991 American Institute of Chemical Engineers

published proceedings

  • AICHE JOURNAL

author list (cited authors)

  • DAOUTIDIS, P., & KRAVARIS, C.

citation count

  • 42

complete list of authors

  • DAOUTIDIS, P||KRAVARIS, C

publication date

  • April 1991

publisher