Output feedback global stabilization for a class of nonlinear systems with unmodelled dynamics (Q2564016)

The authors consider a single-input, single-output minimum phase linear plant \[ \dot x=Fx+gu+\mu h_1g+h_2,\quad y=cx.\tag{1} \] The relative degree may be greater than 1. The system is connected with two nonlinear systems \[ \dot\xi=q_1(\xi,u),\quad h_1=\psi(\xi,u)\tag{2} \] and \[ \dot\zeta=q_2(\zeta,y),\quad h_2=\phi(y,\zeta)\tag{3} \] whose dynamics are in general unmodeled. However, it is required that (2) has a linear structure (with an unknown Hurwitz matrix) and that the input/output behaviour of (3) satisfies suitable assumptions (in particular, the input/output gain is assumed to be known). The main contribution is an existence result for output dynamic feedback of the form \(\dot\chi=\varphi(y,\chi)\), \(u=\theta(y,\chi)\) which stabilizes the system for all the sufficiently small values of \(\mu\).