Feedback stabilization of a class of nonlinear plants using a factorization approach

The authors generalize the right-coprimeness definition by requiring only that the corresponding plant´s pseudo-state be reconstructable by a two-input one-output stable observer. They obtain right-coprime factorizations for a class of nonlinear plants for which a two-input one-output pseudo-state observer is constructed. A feedback stabilization scheme is given using this observer