About finite nonlinear zeros for decouplable systems (Q1102904)

We establish that the eigenvalues of the gradient at an equilibrium point of the `zero-dynamics' defined by \textit{C. I. Byrnes} and \textit{A. Isidori} [Algebraic and geometric methods in nonlinear control theory, Proc. Conf., Paris 1985, Math. Appl., D. Reidel Publ. Co. 29, 159-179 (1986; Zbl 0606.93039)], are nothing but the finite linear zeros of the linearized system at the equilibrium, if the nonlinear system can be input-output decoupled by feedback and its linearization is controllable. This property allows us to describe (and to give an algorithm to find) the output functions leading to stability while using a linear model following controller. We study on an example the problem of both stability and maximal linearization.