文章基本信息

标题：The Zero Dynamics of Nonlinear Stochastic Systems:Stabilisation and Output Tracking in the Ideal Case
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作者：Alberto Mellone ; Giordano Scarciotti
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2020
卷号：53
期号：2
页码：4979-4984
DOI：10.1016/j.ifacol.2020.12.1088
语种：English
出版社：Elsevier
摘要：AbstractThis paper introduces the notion of zero dynamics and presents results of local stabilisation and output tracking for single-input single-output nonlinear stochastic systems described by stochastic differential equations. For this class of systems we define the zero dynamics when the stochastic relative degree is strictly smaller than the order of the system. We show that, under suitable conditions on the zero dynamics, the equilibrium at the origin can be stabilised via a coordinate change and a nonlinear state feedback. In an analogous way, we show that it is possible to achieve local asymptotic output tracking of a reference signal. We validate the theory through a numerical example.