We define a Byrnes-Isidori form for a class of infinite-dimensional systems with relative degree r and show that any system belonging to this class can be transformed into this form. We also analyze the concept of (stable) zero dynamics and show that it is, together with the Byrnes-Isidori form, instrumental for static proportional high-gain output feedback stabilization. Moreover, we show that funnel control is feasible for any system with relative degree one and with exponentially stable zero dynamics; a funnel controller is a time-varying proportional output feedback controller which ensures, for a large class of reference signals, that the error between the output and the reference signal evolves within a prespecified funnel. Therefore transient behavior of the error is obeyed.
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