A Very Simple and Efficient Robust Stabilization Methodfor Nonlinear Uncertain Systems

In this paper new theorems on practical stabilization, for an important class of nonlinear uncertain systems, including mechanical systems articulated and not, are formulated and proved. These results easily allows designing simple control laws, like PD control with a possible imperfect compensation action of nonlinearities and/or disturbances. These control laws allow satisfying specifications with respect to robust stability, convergence velocity and to the maximum values of a norm of the “steady state” outputs