Global robustness of nonlinear systems to state measurement disturbances

R. A. Freeman*, P. V. Kokotovic

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

45 Scopus citations


We consider nonlinear control systems for which an estimate x of the system state x is available for feedback. We assume x = x+dm where dm(t) is an unknown locally bounded state measurement disturbance. We present conditions under which we can design a smooth feedback law u = μ(x) which renders the mapping from dm to x globally input/output stable. For any initial condition, such a feedback law will guarantee that no finite escape times occur, that bounded disturbances dm produce bounded signals, and that x→0 when dm→0. We show that the class of systems for which such feedback laws exist include systems in strict feedback form. One important application is in the output feedback stabilization problem, where the disturbance dm comes from a separately designed observer.

Original languageEnglish (US)
Title of host publicationProceedings of the IEEE Conference on Decision and Control
PublisherPubl by IEEE
Number of pages6
ISBN (Print)0780312988
StatePublished - Dec 1 1993
EventProceedings of the 32nd IEEE Conference on Decision and Control. Part 2 (of 4) - San Antonio, TX, USA
Duration: Dec 15 1993Dec 17 1993


OtherProceedings of the 32nd IEEE Conference on Decision and Control. Part 2 (of 4)
CitySan Antonio, TX, USA

ASJC Scopus subject areas

  • Chemical Health and Safety
  • Control and Systems Engineering
  • Safety, Risk, Reliability and Quality


Dive into the research topics of 'Global robustness of nonlinear systems to state measurement disturbances'. Together they form a unique fingerprint.

Cite this