State-feedback control for a class of nonlinear systems with iISS unmodeled dynamics

This paper investigates the problem of state-feedback regulation for a class of nonlinear systems with iISS unmodeled dynamics. Using the backstepping technique and the properties of iISS, we give the design procedure of a state-feedback controller, by appropriately choosing the designed functions and update laws of parameters. The designed controller guarantees that all the signals of the closed-loop system are bounded, and the states can be regulated asymptotically to zero. A simulation example demonstrates the effectiveness of the control scheme.