Input-to- Output Stabilization of Nonlinear Systems via Backstepping

@article{Efimov2005InputtoOS,
  title={Input-to- Output Stabilization of Nonlinear Systems via Backstepping},
  author={D. V. Efimov and A. L. Fradkov},
  journal={Proceedings of the 44th IEEE Conference on Decision and Control},
  year={2005},
  pages={6128-6133}
}
An extension of backstepping design method to stabilization of nonlinear systems with respect to a set is presented. Robust version of controller providing the system with input-to- output stability (IOS) is proposed. The performance of obtained solution is demonstrated by the pendulum with actuator example. 

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