STATIC-STATE FEEDBACK LAWS FOR OUTPUT REGULATION OF NONLINEAR-SYSTEMS

In this paper static-state feedback laws are considered which address the problem of output stabilization of non-linear dynamic control syst ems without drift. It is shown that as long as a dynamic-state control law exists which input-output decouples a given system, it is possibl e to construct a static-state control which stabilizes the system's ou tput. The design procedure sheds light on the inherent difficulties in designing internally stable control laws for non-linear systems. To d emonstrate the theory, it is applied to the task of designing an outpu t stabilizing feedback for a simple model of a mobile robot.