New state-dependent scaling for uncertain dynamics: nonlinear global stabilization and performance

This paper proposes a simple and systematic design approach to global robust stabilization of nonlinear systems in the presence of dynamic and static uncertainties. An extended concept of state-dependent scaling is newly introduced for robustification of feedback control against dynamic uncertainties. This paper presents a recursive design procedure which provides a global stabilizing state-feedback controller whenever the system belongs to a new class of strict-feedback systems, allowing both dynamic and static uncertainties. The state-dependent scaling method reduces problems of robust L₂ disturbance attenuation and robust almost disturbance decoupling to a special case of the robust stabilization design