Asymptotic stabilization via output feedback for lower triangular systems with output dependent incremental rate

  • Praly L
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We study the global asymptotic stabilization by output feedback for systems whose dynamics are in a feedback form and where the nonlinear terms admit an incremental rate depending only on the measured output. The output feedback we consider is of the observer-controller type where the design of the controller follows from standard robust backstepping. The novelty is in the observer which is high-gain like with a gain coming from a Riccatti equation.

Author-supplied keywords

  • Backstepping
  • High-gain nonlinear observer
  • Output non-linear feedback
  • Riccatti equation

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  • Laurent Praly

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