Output stabilization of square nonlinear systems (Q1372759)

This paper describes an approach to the problem of designing static-state feedback laws for regulating the output of square affine nonlinear systems. The authors decouple input and output to simplify the output regulator tasks into a collection of single-input, single output tasks, where the input-output matrix is of full rank, this approach leads to the well-known input-output linearizing feedback law. When the input-output decoupling matrix is rank deficient, the authors show that a static state control law can be constructed provided system input and output can be decoupled by dynamic feedback. They also provide an algorithm to accomplish this construction. This linearizing extended output stabilizing (LEOS) control algorithm is demonstrated in an example, where a regulating control law is designed for the kinematic model of a mobile robot.