Robust global stabilization with input unmodeled dynamics: An ISS small-gain approach

Zhong Ping Jiang, Murat Arcak

Research output: Contribution to journalArticle


This paper addresses the global asymptotic stabilization of nonlinear systems in the presence of unmodeled dynamics appearing at the input. The unmodeled dynamics are restricted to be minimum-phase and relative degree zero. On the basis of nonlinear small-gain arguments, we design a static feedback control law to achieve global asymptotic stabilization. In the absence of full state information an observer-based control design is developed.

Original languageEnglish (US)
Pages (from-to)1301-1306
Number of pages6
JournalProceedings of the IEEE Conference on Decision and Control
StatePublished - Dec 2000


ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

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