ASYMPTOTIC MODEL-MATCHING FOR NONLINEAR-SYSTEMS

This paper investigates the problem of designing a compensating contro l law for a square invertible nonlinear plant so that the response of the closed-loop system asymptotically matches that of a prescribed, dr iven, nonlinear model. A set of necessary conditions for achieving asy mptotic model matching is established. One of these involves the stabi lity properties for a subdynamics which is common to every model match ing closed loop. This subdynamics, called the ''fixed dynamics,'' is i ntrinsically characterized. Based on these results, a new set of suffi cient conditions for achieving asymptotic model matching is given. The interrelation between the minimum-phase and vector relative degree pr operties of a plant and a matchable model are studied.