Abstract
This paper focuses on global robust stabilization of a class of nonlinear systems by partial-state feedback. Both reduced-order dynamic and static feedback are investigated. These control problems are solved by using the pair of state-dependent scaling and diffeomorphism. Dynamic and static partial-state feedback for nominal and robust global stabilization against memoryless and dynamic uncertainty of various structures are handled in a unified way. The solutions are obtained as backstepping procedures which are amenable to numerical computation and optimization. Analytical formulas of solutions are also available.
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