State-dependent scaling design for a unified approach to robust backstepping (Q5935478)

For the nonlinear system \[ \begin{aligned} \dot x &= A(x)x+ B(x) w+ G(x)u,\\ z &= C(x) x+ H(x) u\end{aligned} \] with \(w=\Delta z\) and the operators \(\Delta\) having passive components in the sense that, componentwise, some generalized Lyapunov-like inequalities are assumed, global feedback stabilization is considered. A certain structure for \(A\), \(B\), \(C\), \(\Delta\) is assumed in order to allow a recursive design. Some simple examples are given.