Practical stabilization of nonlinear systems in chained form

C. Canudas de wit, Henk Nijmeijer, H. Berghuis, Harry Berghuis

    Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

    24 Citations (Scopus)
    149 Downloads (Pure)


    This paper presents a hybrid controller for the practical stabilization of general n-dimensional nonlinear systems in one-chained form. This controller consists of two parts: 1) a discrete-time part that practically stabilizes a subset of the system states; and 2) a piecewise continuous-time part that steers the remaining state-components to an arbitrarily small neighborhood of zero. One attractive feature of the proposed control approach is that it straightforwardly allows for generalizations in the sense that integrators can be put in cascade with the control inputs without affecting the closed-loop stability properties. This yields smoother control inputs, which makes the hybrid controller particularly useful for some relevant applications like mobile robots.
    Original languageEnglish
    Title of host publicationProceedings of the 33rd IEEE Conference on Decision and Control
    Place of PublicationPiscataway, NJ, USA
    Number of pages6
    ISBN (Print)0-7803-1968-0
    Publication statusPublished - 14 Dec 1994
    Event33rd IEEE Conference on Decision and Control, CDC 1994 - Buena Vista Palace, Lake Buena Vista, United States
    Duration: 14 Dec 199416 Dec 1994
    Conference number: 33

    Publication series



    Conference33rd IEEE Conference on Decision and Control, CDC 1994
    Abbreviated titleCDC
    Country/TerritoryUnited States
    CityLake Buena Vista


    • METIS-141672
    • IR-96360


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