TABLE OF CONTENTS As shown above, the analysis of the realizability of the desired output behavior for the dynamic system given by (7.1) (7.2) requires a more careful investigation of the intrinsic properties of the plant model. In particular, the invertibility of a dynamic system and the internal behavior of its state variables on the condition of the assigned output behavior should be examined. Such investigation leads to consideration of the invertibility indices (relative degrees), normal form of a nonlinear system, internal behavior analysis of the state variables, degenerated system, and zero-dynamics.
Finally, in this chapter the design procedure for SISO nonlinear control systems has been discussed in the presence of internal dynamics. In the next chapter, this procedure will be extended to MIMO nonlinear control systems, provided that the realizability of the desired output behavior presented in this chapter holds.
The concluding example of the boost DC-to-DC converter paves the way for extension of the book's design methodology to the problem of switching controller design.
