Global stabilization of nonlinear systems with uncertain structure

The global stabilization problem of nonlinear systems with uncertain structure is dealt with. Based on control Lyapunov function (CLF), a sufficient and necessary condition for Lyapunov stabilization is given. From the condition, several simply sufficient conditions for the globally asymptotical stability are deduced. A state feedback control law is designed to globally asymptotically stabilize the equilibrium of the closed system. Last, a simulation shows the effectiveness of the method.