Semi‐global stabilization of nonlinear systems by nonsmooth output feedback

SUMMARY Semi-global stabilization by output feedback is studied for a class of nonuniformly observable and nonsmoothly stabilizable nonlinear systems. The contribution of this paper is to point out that most of the restrictive growth conditions required in the previous work can be relaxed or removed if a less demanding control objective, namely, semi-global instead of global stabilization is sought. In particular, it is proved that without imposing restrictive conditions, semi-global stabilization by nonsmooth output feedback can be achieved for a chain of odd power integrators perturbed by a smooth triangular vector field, although it is neither smoothly stabilizable nor uniformly observable. Extensions to nonstrictly triangular systems are also discussed in the two-dimensional case. Several examples are provided to illustrate the key features of the proposed semi-global output feedback controllers. Copyright © 2013 John Wiley & Sons, Ltd.

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