Abstract
It is the intent of this paper to add to, and improve the existing design tools for nonlinear output feedback systems. Considered here are systems, exhibiting parametric uncertainty, and containing nonlinearities dependent on the output alone. A lower triangular state transformation is utilised, equivalent to that obtained via the traditional and recursive back stepping algorithm. Extra damping is introduced to counter the uncertainty and observer error effects. The benefits of this approach lie in the significant reduction in total controller dynamic order, as well as the simplicity and clarity provided by implementing back stepping from a purely structural perspective.
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