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Feedback passivation designs, which have been successful for the cascade structures in Chapters 4 and 5, will now be extended to larger classes of nonlinear systems. The common idea of the two main recursive procedures in this chapter, backstepping and forwarding, is to apply a passivation design to a small part of the system, and then to reapply it step-by-step by augmenting the sub-system at each step. The design is completed when the augmentations recover the whole system.
KeywordsLyapunov Function Global Asymptotic Stability Recursive Design Configuration Matrix Feedforward System
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