Globally asymptotical stabilisation for a class of feedback linearisable differential inclusion systems

Globally asymptotical stabilisation for a class of feedback linearisable differential inclusion systems with disturbances is dealt with in this study. A systematic method for constructing the control Lyapunov function (CLF) is presented by solving the Lyapunov equation. Sufficient and necessary conditions for a quadratic CLF to be a CLF for single-input and multi-input systems are acquired, respectively. Then, continuous state feedback laws are designed for corresponding systems. Finally, the effectiveness of the proposed method is illustrated by two simulation examples.