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Title
Japanese: 
English:Output parameterization based on invariant relative degree 
Author
Japanese: 関口 和真, 三平 満司.  
English: Kazuma Sekiguchi, Mitsuji Sampei.  
Language English 
Journal/Book name
Japanese: 
English:Proceedings of the 18th IFAC World Congress 
Volume, Number, Page         pp. 11080-11085
Published date Aug. 28, 2011 
Publisher
Japanese: 
English:IFAC 
Conference name
Japanese: 
English:The 18th IFAC World Congress 
Conference site
Japanese: 
English:Milano 
Abstract In this paper, the change of the relative degree structure at the controllable equilibrium is discussed. In the neighborhood of the controllable equilibrium, all nonlinear systems are approximated to linear controllable system. The gap between the original nonlinear system and approximate linear system appears as a change of the relative degree structure. By comparison of these two structures, the necessary and sufficient condition is derived in order for the equilibrium not to be singular point via the input-output linearization. Based on this result, the selection of the output function is proposed. Moreover the output design method for linear stable zero dynamics is proposed.

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