Robust control of a class of uncertain non-linear systems in strict-feedback form (Q1306052)

A new robust algorithm for nonlinear systems in strict-feedback form is proposed. The proposed control scheme only requires an estimate of the high-frequency gain and it does not require a priori knowledge of the uncertain functions. Uncertain change of coordinates is used to transform the system into a form which allows to reduce the robust stabilization problem to an output feedback stabilization one. The proposed scheme can be applied to single-input nonlinear systems which are transformable into feedback linearizable systems.