Global stabilization of nonlinear systems with a class of unmatched uncertainties (Q1193617)

The paper studies global stability properties of dynamical systems described by \[ \dot x(t)=f(x,t)+\tilde\xi(x,t)+B(x,t)[\xi(x,t)+u],\;x(t_ 0)=x_ 0, \] where \(x(t)\in\mathbb{R}^ n\) denotes the state, \(u(t)\in\mathbb{R}^ n\) the control, \(\tilde\xi(x,t)\) the unmatched constraints and \(\xi(x,t)\) the matched constraints. Under the assumption of global asymptotic stability of \(\dot x(t)=f(x,t)\) and under certain unboundedness assumptions on the uncertainties of the constraints as well as of \(f\) and \(B\), the author constructs a state feedback controller \(u(x,t)\) which stabilizes the closed loop system in the large. The techniques make use of the fact that Lyapunov functions are in general not unique.