Adding integrations, saturated controls, and stabilization for feedforward systems. (English) Zbl 0865.93049

The authors consider nonlinear input systems with prescribed structure, characterized by a special type of internal interconnections. They develop Lyapunov techniques, which, combined with suitable changes of coordinates, allow them to prove the existence of globally and asymptotically stabilizing feedback laws for the given system.
Repeated applications of this technique lead to a solution of the stabilization problem for systems in the so-called feedforward form.
As an example, the authors discuss a mathematical model of the pendulum-cart system.


93D15 Stabilization of systems by feedback
93B52 Feedback control
93D30 Lyapunov and storage functions
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