Static-state feedback laws for output regulation of non-linear systems

In this paper static-state feedback laws are considered which address the problem of output stabilization of non-linear dynamic control systems without drift. It is shown that as long as a dynamic-state control law exists which input-output decouples a given system, it is possible to construct a static-state control which stabilizes the system's output. The design procedure sheds light on the inherent difficulties in designing internally stable control laws for non-linear systems. To demonstrate the theory, it is applied to the task of designing an output stabilizing feedback for a simple model of a mobile robot