Design of orbitally stable zero dynamics for a class of nonlinear systems. Grognard, F. & Canudas-de-Wit, C. Systems & Control Letters, 51(2):89–103, February, 2004. 2
Design of orbitally stable zero dynamics for a class of nonlinear systems [link]Paper  doi  abstract   bibtex   
A method for the generation of globally attractive limit cycles for nonlinear systems is presented. It consists in designing an output that, when regulated through a suitable feedback, forces a limit cycle in the zero dynamics. Conditions are then given to ensure that a globally attractive limit cycle in the zero dynamics results in a globally attractive limit cycle in the whole system. The method is illustrated on the torque control of an induction motor.
@article{grognard_design_2004,
	title = {Design of orbitally stable zero dynamics for a class of nonlinear systems},
	volume = {51},
	issn = {0167-6911},
	url = {http://www.sciencedirect.com/science/article/pii/S0167691103002093},
	doi = {10.1016/S0167-6911(03)00209-3},
	abstract = {A method for the generation of globally attractive limit cycles for nonlinear systems is presented. It consists in designing an output that, when regulated through a suitable feedback, forces a limit cycle in the zero dynamics. Conditions are then given to ensure that a globally attractive limit cycle in the zero dynamics results in a globally attractive limit cycle in the whole system. The method is illustrated on the torque control of an induction motor.},
	number = {2},
	urldate = {2019-09-27},
	journal = {Systems \& Control Letters},
	author = {Grognard, F. and Canudas-de-Wit, C.},
	month = feb,
	year = {2004},
	note = {2},
	keywords = {Feedback linearization, Induction motor, Limit cycles, Zero dynamics},
	pages = {89--103}
}
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