SEMIGLOBAL STABILIZATION OF PARTIALLY LINEAR COMPOSITE SYSTEMS VIA LINEAR DYNAMIC STATE-FEEDBACK

This paper extends the recent results of Lin and Saberi (1994) on semi-global stabilization of a class of minimum-phase nonlinear systems via linear state feedback. The class of minimum-phase nonlinear systems considered in this paper subsume those of Lin and Saberi (1994). More specifically, we show, by explicit construction of the control laws, that a cascade of linear stabilizable and nonlinear globally asymptotically stable subsystems is semi-globally stabilizable by linear dynamic feedback of the state of the linear subsystem, if the linear subsystem is right invertible and has all its invariant zeros in the closed left half s-plane. Our proposed linear dynamic state feedback control law has a single tunable gain parameter that allows for local asymptotic stability and regulation to the origin for any initial condition in any a priori given (arbitrarily large) bounded set.