ROBUST STABILIZATION OF NONLINEAR-SYSTEMS WITH PARAMETRIC UNCERTAINTY

We present a result on the robust stabilization of a class of nonlinear systems exhibiting parametric uncertainty. We consider feedback linearizable nonlinear systems with a vector of unknown constant parameters perturbed about a known value. A Taylor series of the system about the nominal parameter vector coupled with a feedback linearizing control law yields a linear system plus nonlinear perturbations. Via a structure matching condition, a Lyapunov-based control law is shown to exponentially stabilize the full system. The novelty of the result is that the linearizing coordinates are completely known since they are defined about the nominal parameter vector, and fewer restrictions are imposed on the nonlinear perturbations than elsewhere in the literature.