| This thesis contains two parts. The first part studies the global stabilization problem of the nonlinear systems while the second part further addresses the robust output regulation problem of nonlinear systems.; The stabilization of nonlinear systems is one of the most fundamental problems in control theory. Over the past decade, some recursive design methods have been developed to handle the lower-triangular systems subject to static uncertainty. Nevertheless, the more realistic case where the system is subject to both static and dynamic uncertainties has not been adequately investigated. The first part of this thesis focuses on the various versions of the global stabilization problem for this class of systems containing both static and dynamic uncertainties.; Since early 1990s, extensive research efforts have been made on the nonlinear output regulation problem. Nevertheless, two major difficulties have hindered the further progress of the research on this problem. The first one, even for the local case, essentially limits the nonlinear systems to be of polynomial type. The second one is the lack of a systematic framework to handle the global case. This thesis aims to overcome these two major difficulties. For this purpose, we establish a general framework that converts the robust output regulation problem for a given system into a robust stabilization problem of an augmented system composed of the given system and a dynamic compensator called internal model. This framework, on one hand, relaxes the polynomial assumption, and on the other hand, offers greater flexibility to incorporate stabilization techniques, thus setting a stage for systematically tackling the robust output regulation with global stability. (Abstract shortened by UMI.)... |
