Adding an integration with prescribed local behavior

Among the non-linear control techniques, some Lyapunov design methods (Forwarding / Backstepping) take advantage of the structure of the system (Feedforward-form / Feedback-form) to formulate a continuous control law which stabilizes globally and asymptotically the equilibrium. In addition to stabilization, we focus on the local behaviour of the closed loop system, providing conditions under which we can predetermine the behaviour around the origin for Feedforward systems.