Observer-Based Output Stabilization of Integrators System with Lipschitz Nonlinear Term by Bounded Control

In this paper, the observer-based controller design for global stabilization of a class of nonlinear feedforward system with Lipschitz nonlinear term is considered. The control input can be made arbitrary small. Different from the result given in the recent paper by Polendo, J. and Schrader, C.B. (2005), we give in this paper another nested saturation feedback law. To deduce this feedback law, we firstly apply a linear transformation which translates the original system into a triangular form. The main advantage of the controller designed method in this paper is that there are more free parameters, which are the eigenvalues of the closed-loop linearized system, can be well chosen.