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The analysis of zero dynamics of nonlinear control systems with symmetries

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1 Author(s)
Jun Zhao ; Sch. of Inf. Sci. & Eng., Shenyang Polytech. Univ., China

Zero dynamics of nonlinear control systems with symmetries are studied in this paper. It is shown that the zero dynamics of a symmetric system is also symmetric and admits a special form of cascade decomposition. A local zero dynamics is always possible to be extended to the semiglobal case. The relation between the zero dynamics and the quotient system is also discussed

Published in:

Automatic Control, IEEE Transactions on  (Volume:45 ,  Issue: 2 )