Global stabilization of a class of upper-triangular systems with higher-order nonlinearities

In this paper, a global state feedback stabilizer is constructed for a class of upper-triangular systems with unbounded or uncontrollable linearizations around the origin. The approach is based on the generalized adding a power integrator technique and the nested saturation method. With an adjustable homogeneous degree offered by the generalized adding a power integrator, the proposed stabilizer can deal with a wider class of upper-triangular systems.