Stabilization of Multivariable Nonlinear Systems: Part I

  • Alberto IsidoriEmail author
Part of the Advanced Textbooks in Control and Signal Processing book series (C&SP)


This chapter addresses the problem of asymptotically stabilizing a multivariable system having vector relative degree. To this end, a multivariable version of the property of being strongly minimum phase is introduced and it is shown that, if a system has this property, global asymptotic stability via state feedback can be achieved. The resulting control, though, requires exact cancellation of nonlinear terms and access to all state variables. Such control, therefore, is unsuitable if robust stability in the presence of modeling errors is sought. In the second part of the chapter an alternative approach is pursued, based on the design of a robust observer, by means of which all state variables and nonlinear terms whose knowledge is needed for stabilization are approximately estimated. In this way, a dynamic output feedback is designed, by means of which asymptotic stability with guaranteed domain of attraction can be obtained.


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Copyright information

© Springer International Publishing Switzerland 2017

Authors and Affiliations

  1. 1.Dipartimento di Ingegneria Informatica, Automatica e GestionaleUniversità degli Studi di Roma “La Sapienza”RomeItaly

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