Robust adaptive stabilization for a class of cascade nonlinear systems with iISS inverse dynamics

In this paper, the state feedback stabilization problem is investigated for a class of nonlinear systems with iISS inverse dynamics and uncertain control coefficients. By the use of the backstepping control approach, a systematic controller design procedure is developed. The designed control law can guarantee that the system states are globally regulated to the origin and the other signals are bounded in closed-loop systems. Moreover, it is shown that under some additional conditions, a linear controller can be designed by the proposed methodology. The simulation example demonstrates its effectiveness.