Stabilization of nonlinear discrete-time dynamics in strict-feedforward form

The paper deals with stabilization of nonlinear discrete-time dynamics in strict-feedforward form. The proposed design procedure is based on the concept of average passivity: a concept recently introduced by the authors to overcome a well known pathology which occurs in defining passivity in discrete time. For such dynamics it is possible to set an iterative procedure which mimics the continuous-time design approach alternating, at each step, coordinates change and average passivity based control design. The complete controller is derived at the last step and a Lyapunov function for the whole control system is described. An example concludes the paper.