IEEE Transactions on Automatic Control, Vol.45, No.10, 1817-1827, 2000
A tool for semiglobal stabilization of uncertain non-minimum-phase nonlinear systems via output feedback
The purpose of this paper is to present a simple design method by means of which it is possible to robustly stabilize, using output feedback, a significant class of uncertain nonlinear systems whose zero dynamics are unstable. The proposed procedure leads to the construction of a dynamic controller yielding robust, semiglobal practical stability.