Robust semi-global stabilization of minimum-phase input-output linearizable systems via partial state and output feedback

In this paper we consider the problem of robust semi-global stabilization and/or semi-global practical stabilization of minimum-phase input-output linearizable systems. The results of this paper significantly extend the recent work of Teel-Praly on SISO minimum-phase systems in several directions. Among these directions are the development of MIMO theory and the relaxation of the restriction on the interaction between nonlinear zero dynamics and the state of the linearizable part of the system.