Global robust stabilization of MIMO nonlinear high-order systems

抄録

This paper is dealt with a global robust stabilization problem for multi-input multi-output MIMO nonlinear systems with high-order terms and disturbances or unknown parameters but without strict triangular conditions. It is shown that under suitable assumptions on such a system it is possible to construct a globally robustly stabilizing controller by successively using the “adding one power integrator lemma” recently developed by Lin and Qian [Systems and Control Letters, vol. 39 (2000), pp. 339-351].