Change of controller based on partial feedback linearization with time-varying function

This paper considers the problem to transfer the state from one zero dynamics submanifold to another one in finite time, for a time-invariant nonlinear system. The usage of time-varying zero dynamics submanifold is proposed to accomplish the transfer. The feature of this paper is facus on keeping the state on zero dynamics submanifold during the transfer. Main contribution is to develop the condition for doing this for the case that the two zero dynamcis submanifolds have the same dimension. The validity of the controller that is designed to satisfy the condition is demonstrated via a numerical simulation of mono-rotor unmanned aerial vehicle (UAV) system.