On Relative Degrees and Zero Dynamics From Physical System Modeling

[+] Author and Article Information
S.-T. Wu

Department of Mechanical Engineering, National Yunlin Institute of Technology, Yunlin, Taiwan

K. Youcef-Toumi

Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA

J. Dyn. Sys., Meas., Control 117(2), 205-217 (Jun 01, 1995) (13 pages) doi:10.1115/1.2835181 History: Received September 16, 1992; Online January 22, 2008


Relative degrees and zero dynamics are intrinsic system properties associated with a given input-output pair. In the design of output tracking controllers, the relative degree and the stability of the zero dynamics of the control plant are usually assumed to be known in advance, and are determined by analyzing the system dynamic equations. With the help of bond graphs and through physical reasoning, a set of rules are proposed in this paper to determine the relative degree and the stability of the zero dynamics for a class of systems independent of the system dynamic equations. The rules establish a connection between these system properties and the physical structures, and are useful guidelines on the adjustment of relative degrees and zero dynamics for the purpose of control design.

Copyright © 1995 by The American Society of Mechanical Engineers
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