Robust Stabilization of Cascaded Nonlinear Systems with Gain Bounded Uncertainty
Robust Stabilization of Cascaded Nonlinear Systems with Gain Bounded Uncertainty Kazuo Ochi, Non-member, Tielong Shen, Member, Katsutoshi Tamura, Non-member (Sophia University) In this paper, we solve a robust stabilization problem for cascaded nonlinear systems with uncertainty using a integral forwarding method. It is assumed that the uncertainty is expressed by a gain bounded un known nonlinear function. First, under suitable assumptions, a storage function which renders the cascaded nonlinear system robust passive is constructed. Next, it is shown that the storage function plays a role of Lyapunov function with which the nonlinear system can be globally robust stabilized by output feedback control.