Output stabilization of strongly minimum-phase multivariable nonlinear systems

Abstract

This paper addresses the problem of output stabilization of invertible MIMO nonlinear systems. A unifying procedure is presented, that consists in the preliminary use of a statefeedback to induce an upper triangular structure. Assuming that the upper subsystem in this structure is input-to-state stable (to a compact invariant set), the output stabilization problem is reduced to the problem of globally asymptotically stabilizing the lower subsystem.