Xdot=Ax+B[a(x,z)+b(x,z)u]
Zdot=f(x,z)
Y=cx
to stabilize system, u should be choice as;
u=(-a(x,z)+V)/b(x,z))
it is clear that we should use 'z' in control equation. if 'zdot' was stable, why we should use it again in control?
Dear Behzad,
The answer is through these attached files, good luck.
Best regards
I recommend the all attached files have been sent by Prof. Lafifi. Moreover, I send you complete ch 6 from slotine & Li book titled "applied nonlinear control".
The terms in zero dynamics are those which are not directly observable. So you should keep a term related to zdot in your control all the time. For future reference you can go through the chapter 6 of "Applied nonlinear Control" by slotine. Also, you can give a look to these links.
https://uni-obuda.hu/journal/Voung_Ang_21.pdf
http://booksc.org/book/33456649?_ir=1
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