Robust output feedback stabilization of a class of nonminimum phase nonlinear systems

The paper presents an output feedback approach to globally and robustly stabilize a class of nonminimum phase nonlinear systems with bounded nonlinear uncertainties. A robust observer and the standard backstepping design procedure are integrated to synthesize output feedback robust controllers that achieve global regulation of system output with bounded internal states while being robust to bounded modeling uncertainties. Furthermore, in the absence of modeling uncertainties, asymptotic global stabilization is achieved. Simulation results are presented to illustrate the proposed robust output feedback controller scheme