Robust Asymptotic Stabilization of Nonlinear Systems with Non-Hyperbolic Zero Dynamics

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dc.creatorMarconi, L.
dc.creatorPraly, L.
dc.creatorIsidori, A.
dc.date2008-10-02
dc.date.accessioned2026-07-07T10:07:03Z
dc.date.available2026-07-07T10:07:03Z
dc.descriptionIn this paper we present a general tool to handle the presence of zero dynamics which are asymptotically but not locally exponentially stable in problems of robust nonlinear stabilization by output feedback. We show how it is possible to design locally Lipschitz stabilizers under conditions which only rely upon a partial detectability assumption on the controlled plant, by obtaining a robust stabilizing paradigm which is not based on design of observers and separation principles. The main design idea comes from recent achievements in the field of output regulation and specifically in the design of nonlinear internal models.
dc.description30 pages. Preliminary versions accepted at the 47th IEEE Conference on Decision and Control, 2008
dc.identifierhttps://arxiv.org/abs/0810.0364
dc.identifierhttp://arxiv.org/abs/0810.0364
dc.identifier.urihttp://salesiana.dossiersoluciones.com/handle/123456789/170500
dc.subjectOptimization and Control
dc.subjectDynamical Systems
dc.subject93C10; 93B51
dc.titleRobust Asymptotic Stabilization of Nonlinear Systems with Non-Hyperbolic Zero Dynamics
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