Robust stabilisation and passivity of nonlinear systems with structural uncertainty

Robust stabilisation and passivity of general nonlinear systems with structural uncertainty is considered. On the basis of the theory of passive systems, it is verified that under some conditions passivity implies zero-state detectability and that passivity can result in robust stabilisation of the general nonlinear system with structural uncertainty. A smooth-state feedback law is constructed with the solution of an equation. The effectiveness of the proposed technique will be tested via simulations