Stabilization of compact sets for passive affine nonlinear systems (Q5926272)

The author considers and solves the problem of finding a state feedback controller for the nonlinear system \[ \begin{aligned} \dot x &= f(x)+ g(x) u(t),\\ y &= h_1(x)= [L_gV(x)]^T,\\ z &= h_2(x),\end{aligned} \] where \(V(x)= {1\over 2}|h_2(x)|^2\). The goal of the control is to ensure \(\lim_{t\to\infty} V(x(t))= 0\) along the trajectories of the closed loop system with the designed control \(u= -\psi(h_1(x))\).