Nested Linear Low-Gain Design for Semiglobal Stabilization of Feedforward Systems

Abstract

We show that semiglobal stabilization of a large class of feedforward nonlinear systems is achieved by low-gain linear feedback provided that the separation of the gains is sufficient. Particular situations are identified where the tuning of the gains only requires increasing powers of a single parameter. A recursive tuning of independent parameters is necessary in the general case to avoid vanishing regions of attractions.