Output-input stability and minimum-phase nonlinear systems

Details Output-input stability and minimum-phase nonlinear systems Output-input stability and minimum-phase nonlinear systems

2000-06-19

arxiv.org/abs/math/0006133v2

Mathematics

Optimization and Control

Revised version, to appear in IEEE Transactions on Automatic Control. See related work in http://www.math.rutgers.edu/~sontag

Scientific paper

This paper introduces and studies the notion of output-input stability, which represents a variant of the minimum-phase property for general smooth nonlinear control systems. The definition of output-input stability does not rely on a particular choice of coordinates in which the system takes a normal form or on the computation of zero dynamics. In the spirit of the ``input-to-state stability'' philosophy, it requires the state and the input of the system to be bounded by a suitable function of the output and derivatives of the output, modulo a decaying term depending on initial conditions. The class of output-input stable systems thus defined includes all affine systems in global normal form whose internal dynamics are input-to-state stable and also all left-invertible linear systems whose transmission zeros have negative real parts. As an application, we explain how the new concept enables one to develop a natural extension to nonlinear systems of a basic result from linear adaptive control.

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