Local stabilization of a class of nonlinear systems by dynamic output feedback

This paper presents a constructive way to design dynamic output feedback co ntrol law to locally stabilize a class of nonlinear systems based on Malkin 's Theorem, This class of nonlinear systems is general enough to include sy stems which are neither minimum phase nor locally uniformly completely obse rvable, and whose linearization can contain unstabilizable and undetectable critical modes. Thus our result can handle some systems that cannot be sta bilized by existing methods. (C) 2001 Elsevier Science Ltd. All rights rese rved.