## Abstract

We introduce a new definition of the minimum-phase property for general smooth nonlinear control systems. The definition does not rely on a particular choice of coordinates in which the system takes a normal form or on the computation of zero dynamics. It requires the state and the input of the system to be bounded by a suitable function of the output and derivatives of the output, modulo a decaying term depending on initial conditions. The class of minimum-phase systems thus defined includes all affine systems in global normal form whose internal dynamics are input-to-state stable and also all left-invertible linear systems whose transmission zeros have negative real parts. We explain how the new concept enables one to develop a natural extension to nonlinear systems of a basic result from linear adaptive control.

Original language | English (US) |
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Pages (from-to) | 2106-2111 |

Number of pages | 6 |

Journal | Proceedings of the IEEE Conference on Decision and Control |

Volume | 3 |

DOIs | |

State | Published - Dec 2000 |

## ASJC Scopus subject areas

- Control and Systems Engineering
- Modeling and Simulation
- Control and Optimization