A framework for global stabilization of nonlinear systems by continuous state feedback

This paper presents a framework for global stabilization of inherently nonlinear systems that may not be smoothly stabilizable but stabilizable by continuous state feedback. A systematic design method which combines homogeneous systems theory with the idea of adding a power integrator is developed for the explicit construction of C⁰ globally stabilizing controllers. The significance of the new framework is illustrated by solving a variety of nonlinear control problems that cannot be dealt with by existing methods