TOOLS FOR SEMIGLOBAL STABILIZATION BY PARTIAL STATE AND OUTPUT-FEEDBACK

We develop tools for uniform semiglobal stabilization by partial state and output feedback. We show, by means of examples, that these tools are useful for solving a variety of problems. One application is a general result on semiglobal output feedback stabilizability when global state feedback stabilizability is achievable by a control function that is uniformly completely observable. We provide more general results on semiglobal output feedback stabilization as well. Globally minimum phase input-output linearizable systems are considered as a special case. Throughout our discussion we demonstrate the usefulness of considering local convergence separate from boundedness of solutions. For the former we employ a sufficient small gain condition guaranteeing convergence. For the latter we rely on Lyapunov techniques.