Global Stabilization of a Class of Invertible MIMO Nonlinear Systems

In this paper, we consider the class of input-affine MIMO nonlinear systems which are assumed to be invertible and input-output linearizable. This class includes, as a trivial special case, the class of MIMO systems possessing a well-defined vector relative degree. It is shown that if a system in this class is strongly minimum phase, in a sense specified in the paper, it is globally stabilizable via partial-state feedback or semiglobally stabilizable via (dynamic) output feedback. The result substantially broadens the class of nonlinear MIMO systems for which global/semiglobal stabilization via limited state information is known to be possible.