Explicit Constructions of Global Stabilization Control Laws for a Class of Nonminimum Phase Nonlinear Systems

This paper addresses a global stabilization problem for a class of nonminimum phase nonlinear systems. The nonlinearities of the system, which depend on the system output, can be unknown, but satisfy some linear growth conditions. The given system is first transformed into a special coordinate basis, in which the system zero dynamics is divided into a stable part and an unstable part. A sufficient solvability condition is then established for solving the global stabilization problem. Finally, the obtained result is utilized to solve a stabilization problem on a rotational/translational actuator (RTAC) system