Robust Output Feedback Stabilization of MIMO Invertible Nonlinear Systems with Output-Dependent Multipliers (extended version)

TL;DR

This paper develops a robust output feedback stabilization method for MIMO invertible nonlinear systems with output-dependent multipliers, using extended high-gain observers to achieve semiglobally asymptotic stability.

Contribution

It introduces a systematic design of extended low-power high-gain observers for robust stabilization, improving numerical implementation over existing methods.

Findings

Achieves semiglobally asymptotic stability of the closed-loop system.

Provides a systematic observer design for output feedback stabilization.

Enhances numerical stability with high-gain parameters up to 2.

Abstract

This note studies the robust output feedback stabilization problem of multi-input multi-output invertible nonlinear systems with output-dependent multipliers. An "ideal" state feedback is first designed under certain mild assumptions. Then, a set of extended low-power high-gain observers is systematically designed, providing a complete estimation of the "ideal" feedback law. This yields a robust output feedback stabilizer such that the origin of the closed-loop system is semiglobally asymptotically stable, while improving the numerical implementation with the power of high-gain parameters up to 2.