A Closed Form Solution for the Normal Form and Zero Dynamics of a Class of Nonlinear Systems

Siamak Tafazoli

Published 2018-12-04Version 1

The normal form and zero dynamics are powerful tools useful in analysis and control of both linear and nonlinear systems. There are no simple closed form solutions to the general zero dynamics problem for nonlinear systems. A few algorithms exist for determining the zero dynamics, but none is straightforward and all are difficult to apply to large dimensional problems. A Closed form solution to the zero dynamics problem would motivate more usage of this powerful technique. The author presents here a simple algebraic methodology for the normal form and zero dynamics calculation of a class of nonlinear systems, mostly found in dynamical mechanical systems. The solution is in closed form so that application of the theorem presented is straight forward. As an illustration, the zero dynamics calculations for the complex dynamics of a flexible spacecraft is presented to demonstrate the simplicity and usefulness of the proposed closed form solution. Keywords: Control, Differential Geometry, Normal Form, Zero Dynamics, Nonlinear Systems, Feedback Linearization, Attitude Dynamics, Flexible Spacecraft.