×

Smooth feedback, global stabilization, and disturbance attenuation of nonlinear systems with uncontrollable linearization. (English) Zbl 0995.93060

The authors consider a class of highly nonlinear systems that are comprised of a lower dimensional zero-dynamics subsystem and a chain of power integrators perturbed by a nontriangular vector field. They develop a systematic design procedure for the explicit construction of smooth feedback controllers which globally stabilize the system in the absence of additive disturbances and attenuate the effect of the disturbance of the output.

MSC:

93D15 Stabilization of systems by feedback
93D21 Adaptive or robust stabilization
93C10 Nonlinear systems in control theory
93C73 Perturbations in control/observation systems
PDFBibTeX XMLCite
Full Text: DOI