Practical and asymptotic stabilization of the 3-d chained system by the transverse function approach

Smooth feedback control laws, for practical and asymptotic stabilization of the three-dimensional chained system subjected to (known or measured) additive perturbations, are derived by using the transverse function approach. More precisely, the proposed controls ensure practical stability of the system´s origin whatever the perturbations, and asymptotic stability (resp. state convergence to zero) when the perturbations are equal to zero (resp. tend to zero).