Thats a unique idea.You should consider the following idea to enhance your idea so that it would impact uniquely:  develop a constructive decentralized control design procedure for a class of systems that may be loosely described as chained integrators which are dynamically coupled. The design method is inspired by nested saturation control ideas and formulated by applying the singular perturbation theory.  demonstrate that the proposed design provides a Lyapunov function for an associated closed loop system from which semi-global stability may be deduced. Using the proposed idea,  design a semi-globally stabilizing control law for a four degree of freedom spherical inverted pendulum.
['Guangyu Liu', 'Iven Mareels', 'Dragan Nesic']
I am writing a research paper on a idea Brief paper: Decentralized control design of interconnected chains of integrators: A case study
[{"from": "human", "value": "I am writing a research paper on a idea Brief paper: Decentralized control design of interconnected chains of integrators: A case study"}, {"from": "gpt", "value": "Thats a unique idea.You should consider the following idea to enhance your idea so that it would impact uniquely:  develop a constructive decentralized control design procedure for a class of systems that may be loosely described as chained integrators which are dynamically coupled. The design method is inspired by nested saturation control ideas and formulated by applying the singular perturbation theory.  demonstrate that the proposed design provides a Lyapunov function for an associated closed loop system from which semi-global stability may be deduced. Using the proposed idea,  design a semi-globally stabilizing control law for a four degree of freedom spherical inverted pendulum."}]