Uniform asymptotic stability of non-autonomous parameterized discrete-time cascades: A case study

Recently, a framework for controller design of sampleddata nonlinear systems via their approximate discrete-time models has been proposed in the literature. This framework naturally leads to investigation of families of parameterized discrete-time systems. In this paper we present a case-study in cascades-based control. That is, we show the utility of a theorem for stability of parameterized discrete-time cascades in the tracking control of the unicycle benchmark. This application is fairly illustrative of the technical differences and obstacles encountered in the analysis of discrete-time parameterized systems and therefore motivates a formal study of parameterized discrete-time systems.