Controller design for a class of nonlinear cascaded systems

This paper is concerned with designing stabilizing controllers for a class of nonlinear cascaded systems. First of all, the extended adding a power integrator technique is employed to design a global controller to stabilize the driving subsystem of the underlying nonlinear cascaded system. Next, it is shown that the resulting closed-loop cascaded system is globally stable by exploiting the homogeneous properties and polynomial conditions. The developed controller design is superior to the existing design approaches in that it allows to design continuously differentiable controllers for cascaded systems through appropriate selection of some parameters. Finally, numerical examples are provided to demonstrate the efficiency of the developed controller design.

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