Output-input stability and minimum-phase nonlinear systems

Output-input stability and minimum-phase nonlinear systems

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 outputinput 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” ph...

Output-input stability of nonlinear systems and input/output operators

The notion of output-input stability, recently proposed in [2], represents a variant of the minimum-phase property for general smooth nonlinear control systems. In the spirit of the input-to-state stability (ISS) philosophy, the definition of output-input stability requires the state and the input of the system to be bounded by a suitable function of the output and derivatives of the output, mo...

Output Consensus Control of Nonlinear Non-minimum Phase Multi-agent Systems Using Output Redefinition Method

This paper concerns the problem of output consensus in nonlinear non-minimum phase systems. The main contribution of the paper is to guarantee achieving consensus in the presence of unstable zero dynamics. To achieve this goal, an output redefinition method is proposed. The new outputs of agents are functions of original outputs and internal states and defined such that the dynamics of agents a...

Output-input Stability: a New Variant of the Minimum-phase Property for Nonlinear Systems

Minimum phase properties for input nonaffine nonlinear systems

For input nonaffine nonlinear control systems, the minimum phase property of the system in general depends on the control law. Switching or discontinuous controllers may offer advantages in this context. In particular, there may not exist a continuous control law which would keep the output identically equal to zero and for which the zero output constrained dynamics are locally stable, whereas ...