Stabilization in spite of matched unmodeled dynamics and an equivalent definition of input-to-state stability,”

Abstract. We consider nonlinear systems with input-to-output stable (IOS) unmodelled dynamics which are in the "range" of the input. Assuming the nominal system is globally asymptotically stabilizable and a nonlinear small gain condition is satisfied, we propose a first control law such that all solutions of the perturbed system are bounded and the state of the nominal system is captured by an arbitrarily small neighborhood of the origin. The design of this controller is based on a gain assignment result which allows us to prove our statement via a Small-Gain Theorem [JTP, Theorem 2.1]. However, this control law exhibits a high gain feature for all values. Since this may be undesirable, in a second stage we propose another controller with different characteristics in this respect. This controller requires more a priori knowledge on the unmodelled dynamics, as it is dynamic and incorporates a signal bounding the unmodelled effects. However this is only possible by restraining the IOS property into the exp-IOS property. Nevertheless we show that, in the case of input-to-state stability (ISS) -the output is the state itself -, ISS and exp-ISS are in fact equivalent properties