Global stabilization of inherently non-linear systems using continuously differentiable controllers

This paper concerns the problem of constructing $$C^1$$C1 (continuously differentiable) controllers to stabilize a class of uncertain non-linear systems whose linearization around the origin may contain uncontrollable modes. Based on a new definition of homogeneity with monotone degrees, a polynomial Lyapunov function and a $$C^1$$C1 global stabilizer are constructed recursively. Moreover, several special cases are investigated to show the advantages of the proposed approaches using the generalized homogeneity compared to the existing approaches using the traditional homogeneity.

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