Automatica, Vol.34, No.6, 783-788, 1998
New results on the global stabilization of minimum-phase nonlinear systems
The problem of global stabilization for a class of minimum-phase nonlinear systems in normal form is addressed using Lyapunov-based techniques. The proposed method extends early semi-global stabilization results. The key point in designing global stabilizers is the use of full-state feedback control laws which do not preserve the triangularity of the system.