The main result is that a discrete time minimum phase nonlinear system is stabilizable via dynamic output feedback if its zero dynamics is approximately asymptotically stable.
主要结果是，如果一非线性系统的零动态是逼近渐近稳定的，则能用动态输出反馈镇定。
Valid dynamic sliding mode output that guarantees the system stable zero dynamics was constructed, and a global second order sliding mode control was adopted to circumvent chattering phenomena.
通过构造动态滑模输出，使得系统零动态稳定；采用全局二阶滑模控制来消除抖振。
Under the assumption of stable zero dynamics, the whole system is semi-global asymptotically stable (Semi-GAS).
最后在零动态稳定的假设下，实现了整个系统的半全局渐近稳定。
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