摘要：AbstractThis paper introduces the notion of zero dynamics and presents results of local stabilisation and output tracking for single-input single-output nonlinear stochastic systems described by stochastic differential equations. For this class of systems we define the zero dynamics when the stochastic relative degree is strictly smaller than the order of the system. We show that, under suitable conditions on the zero dynamics, the equilibrium at the origin can be stabilised via a coordinate change and a nonlinear state feedback. In an analogous way, we show that it is possible to achieve local asymptotic output tracking of a reference signal. We validate the theory through a numerical example.
