Zero dynamics and norm form for general nonlinear systems
The author considers the relation between the zero dynamics of the general nonlinear control system (1) and the one of its affine adjoint system (2) NEWLINE\[NEWLINE(1)\qquad \dot x= f(x,u),\quad y= h(x)\qquad\text{and}\qquad (2)\qquad \dot x= f(x,z),\quad \dot z=v,\quad y= h(x),NEWLINE\]NEWLINE where \(x\in\mathbb{R}^n\), \(u,v,y\in \mathbb{R}^m\), and \(f(x,u)\), \(h(x)\) are smooth functions. The main results obtained areNEWLINENEWLINENEWLINEI. The nonlinear (1) has a 3-zero dynamics at the point \(x_0\in \mathbb{R}^n\) only when its adjoint system (2): has a 3-zero dynamics.NEWLINENEWLINENEWLINEII. If for \(z_0= u^*(x_0)\in \mathbb{R}^n\) the adjoint system (2) ha a 2-zero dynamic at the point \(\widetilde x_0= (x_0, u^*(\widetilde x_0))\), where \(u^*(x)\) denotes the continuous mapping given by the Definition 2, then the system (1) has a 1-zero dynamics at the point \(x_0\in \mathbb{R}^n\).NEWLINENEWLINENEWLINEFrom the normal form of (2) and the relations obtained, a weakly regular normal form of system (1) is derived. It can be used in some problems such as output tracking.NEWLINENEWLINENEWLINESome notations such as \(f^*(x, u^*)\), \(T_M(x)\), \(T_{z^*}(x)\) are not defined clearly and the condition (ii) in Definition 2 is redundant because in condition (i) the mapping \(u^*: z^*\to \mathbb{R}^m\) is assumed to be unique and smooth.
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