M. Tzamtzi et J. Tsinias, Explicit formulas of feedback stabilizers for a class of triangular systems with uncontrollable linearization, SYST CONTR, 38(2), 1999, pp. 115-126
For a class of nonlinear systems having triangular structure, we provide ex
plicit formulas for feedback controllers, that exhibit global stabilization
. The global part of our analysis is mainly based on a version of Sontag's
input-to-state-stability property, and constitutes a generalization of prev
ious works of the second author. (C) 1999 Elsevier Science B.V. All rights
reserved.