Читать книгу PID Passivity-Based Control of Nonlinear Systems with Applications - Romeo Ortega - Страница 24

If the system has relative degree zero, that is , the feedback system of Figure 2.1 with is well‐posed if the matrix

is full‐rank. On the other hand, if the system has relative degree one, that is and , the feedback system is well posed if the matrix

is full‐rank.