A Unifying Integral ISS Framework for Stability of Nonlinear Cascades
This paper provides new results about global asymptotic stability of systems with a cascade structure \[ \dot x= f(x,z),\quad \dot z= q(x). \] The authors assume that the \(z\)-subsystem is globally asymptotically stable and that the \(x\)-subsystem is integrally input-to-state stable when \(z\) is viewed as an input. These properties are usually expressed by means of certain real functions, called comparison or gain functions. The main result states that the cascade system is globally asymptotically stable, under the condition that \[ \int^1_0 {\mu(\alpha(s))\over s} ds< \infty, \] where \(\alpha\) is the gain function of the \(z\)-subsystem and \(\mu\) is the gain function of the \(x\)-subsystem. As an application, the authors develop a new observer-based backstepping procedure which makes use of weak nonlinear damping terms.
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