Stabilization of nonholonomic systems in chained form based on sampled data control

Proposes a feedback control system based on sampled data control for a class of nonholonomic systems in chained form. The problem of finding a controller to stabilize the nonholonomic systems is reduced to the well-known pole assignment problem for linear time-invariant discrete-time systems. As a result, a simple and explicit design method for a stabilizing controller is obtained.