A switching algorithm for global exponential stabilization of uncertain chained systems

Zairong Xi, Gang Feng, Z. P. Jiang, Daizhan Cheng

Research output: Contribution to journalArticle


This note deals with chained form systems with strongly nonlinear unmodeled dynamics and external disturbances. The objective is to design a robust nonlinear state feedback law such that the closed-loop system is globally Κ-exponentially stable. We propose a novel switching control strategy involving the use of input/state scaling and integrator backstepping. The new features of our controllers include the ability to achieve Lyapunov stability, exponential convergence, and robustness to a set of uncertain drift terms.

Original languageEnglish (US)
Pages (from-to)1793-1798
Number of pages6
JournalIEEE Transactions on Automatic Control
Issue number10
StatePublished - Oct 1 2003



  • Backstepping
  • Chained form systems
  • Exponential stabilization
  • Input-state scaling
  • Lyapunov stability
  • Robustness

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

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