Robust global stabilization with ignored input dynamics: an input-to-state stability (ISS) small-gain approach

This paper presents a re-design for global asymptotic stabilization in the presence of ignored input dynamics, restricted to be minimum-phase and relative degree zero. Using nonlinear small-gain arguments, we design a static feedback control law to achieve global asymptotic stabilization. In the absence of full-state information, an observer-based stabilizing controller is proposed.