Global Robust Stabilization of Minimum-Phase Nonlinear Systems with Uncertainty

This paper studies the problem of global stabilization via state feedback, for a class of minimum-phase nonlinear systems with unknown unmodelled time-varying parame­ ters or disturbances belonging to a given compact set. Sufficient conditions are presented for the existence of a ro bust stabilizing state feedback controller. The controller is explicitly constructed by using a Lyapunov-based re­ cursive design procedure. The propoged feedback control law is a smooth function of the state and requires infor­ mation of bounding functions on the size of uncertainties. Our results incorporate and generalize a number of ro­ bust control schemes for global stabilization of uncertain feedback linearizable systems without zero dynamics.