ROBUST SEMIGLOBAL STABILIZATION OF MINIMUM-PHASE INPUT-OUTPUT LINEARIZABLE SYSTEMS VIA PARTIAL STATE AND OUTPUT-FEEDBACK

In this paper we consider the problem of robust semiglobal stabilizati on and/or semiglobal practical stabilization of minimum-phase input-ou tput linearizable systems, The results of this paper significantly ext end the recent work of Teel and Praly on SISO (single-input/single-out put) minimum-phase systems in several directions. Among these directio ns are the development of MIMO (multi-input/multi-output) theory and t he relaxation of the restriction on the interaction between nonlinear zero dynamics and the state of the linearizable part of the system.