Applications of zero dynamics with symbolic computation

Zero dynamics plays an important role in the areas of modelling, analysis, and control of linear and nonlinear systems. The zero dynamics gives additional insight in the structure of the model employed and is an aid in modifying a model to satisfy some needs of the modeller. For nonlinear systems the analytical calculations of the zero dynamics are time consuming. Symbolic computation has been used to overcome this difficulty. For a reasonable class of systems the computation can be performed without human aid or intervention, making the zero dynamics procedure a feasible and valuable addition to the toolbox of the modeller, analyst, or control system designer. The complexity of the problem and the algorithms is too high to expect any results in reasonable space and time when a problem is more than moderately sized