Our robust stabilization results thus far were obtained under the assumption of perfect state feedback. In particular, in Chapter 5 we gave a constructive proof of the fact that every nonlinear system in strict feedback form admits a robust control Lyapunov function (rclf) and is therefore robustly stabilizable with perfect state measurements. In this chapter, we show that such systems remain robustly stabilizable when the state measurement is corrupted by disturbances (such as sensor noise). To be precise, we show that strict feedback systems can be made (globally) input-to-state stable (cf. Definition 3.3) with respect to additive state measurement disturbances.
KeywordsMeasurement Disturbance Measurement Constraint Strict Feedback Form Strict Feedback System Strict Feedback
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