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A constructive approach to local stabilization of nonlinear systems by dynamic output feedback

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3 Author(s)
Pengnian Chen ; Dept. of Math., China Inst. of Metrol., Hangzhou, China ; Daizhan Cheng ; Zhong-Ping Jiang

The note considers the problem of local stabilization of nonlinear systems by dynamic output feedback. A new concept, namely, local uniform observability of feedback control law, is introduced. The main result is that if a nonlinear system is Nth-order approximately stabilizable by a locally uniformly observable state feedback, then it is stabilizable by dynamic output feedback. Based on the approximate stability, a constructive method for designing dynamic compensators is presented. The design of the dynamic compensators is beyond the separation principle and can handle systems whose linearization might be uncontrollable and/or unobservable. An example of nonminimum phase nonlinear systems is presented to illustrate the utility of the results.

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Automatic Control, IEEE Transactions on  (Volume:51 ,  Issue: 7 )