Global robust stabilization of minimum-phase nonlinear systems with uncertainty (Q1356156)

Consider the system \[ \dot\xi= F(\xi,d(t))+ g(\xi)u,\quad y= h(\xi), \] where \(u,y\in\mathbb{R}\), \(\xi\in\mathbb{R}^n\); \(d(t)\) is an unknown piecewise continuous disturbance with the values in a compact set \(\Omega\subset\mathbb{R}^s\). The existence of an isolated equilibrium is not affected by the disturbance, i.e. \(F(0,d(t))\equiv 0\), \(\forall d\in\Omega\). A certain canonical form is used for constructing simultaneously a Lyapunov function and a smooth feedback controller that renders the equilibrium at the origin globally uniformly asymptotically stable for all \(d(t)\in\Omega\). Moreover, the controller is \(d\)-independent.