Further results on robust semiglobal stabilization with dynamic input uncertainties

This paper presents a dynamic state feedback approach to the semiglobal stabilization of nonlinear systems with minimum-phase dynamic input uncertainties. The assumption needed to get this new result is weaker than the assumption of input feedback passivity or that of nonlinear small gain considered up to now. The authors show how their previous result (1998) can be extended to the general relative degree case. For ease of presentation, we restrict ourselves to the single input single output case