Geodesic
Passivity based stabilization of non-minimum phase nonlinear systems
Kybernetika, Tome 45 (2009) no. 3, pp. 417-426.

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A cascade scheme for passivity-based stabilization of a wide class of nonlinear systems is proposed in this paper. Starting from the definitions and basic concepts of passivity-based stabilization via feedback (which are applicable to minimum phase nonlinear systems expressed in their normal forms) a cascade stabilization scheme is proposed for minimum and non-minimum phase nonlinear systems where the constraint of stable zero dynamics imposed by previous stabilization approaches is abandoned. Simulation results of the proposed algorithm are presented to demonstrate its performance.
Classification : 93C10, 93D15, 93D99
Keywords: nonlinear systems; stabilization; passivity; state feedback 
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     author = {Travieso-Torres, Juan C. and Duarte-Mermoud, Manuel A. and Zagalak, Petr},
     title = {Passivity based stabilization of non-minimum phase nonlinear systems},
     journal = {Kybernetika},
     pages = {417--426},
     publisher = {mathdoc},
     volume = {45},
     number = {3},
     year = {2009},
     mrnumber = {2543131},
     zbl = {1165.93333},
     language = {en},
     url = {http://geodesic.mathdoc.fr/item/KYB_2009__45_3_a3/}
}
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Travieso-Torres, Juan C.; Duarte-Mermoud, Manuel A.; Zagalak, Petr. Passivity based stabilization of non-minimum phase nonlinear systems. Kybernetika, Tome 45 (2009) no. 3, pp. 417-426. http://geodesic.mathdoc.fr/item/KYB_2009__45_3_a3/