A constructive stabilization approach for open-loop unstable non-affine systems

This paper focuses on the stabilization of non-affine-in-control systems that are open-loop unstable. The main result of the paper is a general method for constructing feedback stabilization of all non-affine systems. The synthesis procedure is based on concepts of feedback passivation, and is extended for non-affine systems by deriving sufficient conditions for passivity. The developments and essential ideas of the proposed technique are validated via simulation.