Trading the stability of finite zeros for global stabilization of nonlinear
AUTHORS: R. Sepulchre, M. Arcak, A. Teel.
ABSTRACT: This paper analyzes the stabilizability properties of nonlinear
cascades in which a nonminimum phase linear system is interconnected through
its output to a stable nonlinear system. It is shown that the instability
of the zeros of the linear system can be traded with the stability of the
nonlinear system up to a limit fixed by the growth properties of the cascade
interconnection term. Below this limit, global stabilization is achieved
by smooth static state feedback. Beyond this limit, various examples illustrate
that controllability of the cascade may be lost, making it impossible to
achieve large regions of attractions.
KEYWORDS: Stabilization, nonlinear cascades, peaking
STATUS: IEEE Transactions on Automatic Control, vol.47, no.3, pp. 521-525,
A conference version of this paper has appeared in the Proceedings of
the 4th IFAC Symposium
on Nonlinear Control Systems, Enschede, The Netherlands, pp. 624-630,
Final Paper: (Pdf ).