Local stabilization of a class of nonlinear systems by dynamic output feedback

This paper presents a constructive way to design dynamic output feedback control law to locally stabilize a class of nonlinear systems based on Malkin's Theorem, This class of nonlinear systems is general enough to include systems which are neither minimum phase nor locally uniformly completely observable, and whose linearization can contain unstabilizable and undetectable critical modes. Thus our result can handle some systems that cannot be stabilized by existing methods. (C) 2001 Elsevier Science Ltd. All rights reserved.