[1] The idea was introduced thirty years ago as the nonlinear approach to the concept of transmission of zeros.
The original purpose of introducing the concept was to develop an asymptotic stabilization with a set of guaranteed regions of attraction (semi-global stabilizability), to make the overall system stable.
Mainly its behavior plays a significant role in measuring the performance limitations of specific feedback systems.
[7] Before the advent of zero dynamics, the problem of acquiring non-interacting control systems by using internal stability was not specifically discussed.
Such results make zero dynamics an interesting tool to guarantee the internal stability of non-interacting control systems.