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A discontinuous control law exponentially stabilizing a simple nonholonomic system is discussed and analyzed in detail. Basic properties, such as existence and uniqueness of the closed loop system trajectories, and simple robustness issues are studied. Continuous modifications of the considered discontinuous control law are proposed and discussed in detail. The considered controller is representative...
The problem of the global asymptotic stabilization by dynamic output feedback of systems belonging to a particular family of feedforward systems is solved. The equations considered depend nonlinearly on the unmeasured part of the state and are nonminimum phase. Feedback laws arbitrarily small in norm are constructed. The result can be applied repeatedly. It is illustrated by the cart-pendulum system...
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