Integrator forwarding: a new
recursive nonlinear robust design
- AUTHORS: R. Sepulchre, M. Jankovic, P. Kokotovic.
We consider the global stabilization of nonlinear systems in strict feedforward form. We show that these systems, while not feedback linearizable, can be (globally) transformed by feedback and diffeomorphism into a lower-triangular form. The transformation is explicit and recursive. We employ this transformation to design a globally stabilizing controller with optimality properties and an input-to-state stability property with respect to matched uncertainties.
- KEY WORDS: Nonlinear Systems, Global Stabilization, Design Methods, Feedforward Systems.
- STATUS: published in Automatica, vol. 33, no 5, pp. 979-984, 1997.
- Preliminary version published in the Proceedings
of the 13th
World Congress, San Francisco, California, pp. 85-90, 1996.