Output-feedback stabilization of a class of uncertain non-minimum-phase nonlinear systems

Dimitrios Karagiannis, Z. P. Jiang, Remeo Ortega, Alessandro Astolfi

Research output: Contribution to journalArticlepeer-review


The problem of global output-feedback stabilization for a class of nonlinear systems whose zero dynamics are not necessarily stable is addressed in this paper. It is shown that, using a novel observer design tool together with standard backstepping and small-gain techniques, it is possible to design a stabilizing output feedback controller which ensures robustness with respect to dynamic uncertainties. The proposed stabilization method generalizes existing tools in several directions. As an example, the method is applied to the stabilization of the benchmark translational oscillator/rotational actuator (TORA) using only measurements of the rotational position.

Original languageEnglish (US)
Pages (from-to)1609-1615
Number of pages7
Issue number9
StatePublished - Sep 2005


  • Nonlinear control
  • Nonlinear small gain
  • Output feedback
  • Reduced-order observers
  • Robustness to uncertainties

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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