Abstract
The authors consider a global robust asymptotic stabilization problem (GRS) for cascaded systems having dynamic uncertainties that are not necessarily input-to-state stable (ISS). Specifically, a recursive Lyapunov design approach is developed by induction on the system relative degree, providing a smoothly globally stabilizing controller. It is applicable to nonlinear cascaded systems having multiple distinct iISS dynamic uncertainties. The proposed design is constructive and leads to an iISS-Lyapunov characterization in a superposition form for the closed-loop system.
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