Local stabilization of a class of nonlinear systems by dynamic output feedback
The authors consider a class of affine nonlinear systems described by NEWLINE\[NEWLINE\begin{aligned} \dot z &= f(z,\xi),\\ \dot\xi &= A\xi+ B(G(z,\xi) u+ F(z,\xi)),\\ Y & = C\xi.\end{aligned}NEWLINE\]NEWLINE The structure is chosen to cope with two requirements: to admit the normal form of Isidori and to allow application of Mal'kin stability theorem in order to design a stabilizing compensator even if the system has uncontrollable and unobservable critical parts. A state feedback/full order observer configuration of the compensator is obtained.
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