Homogeneous Observers, Iterative Design, and Global Stabilization of High-Order Nonlinear Systems by Smooth Output Feedback

We study the problem of global stabilization by smooth output feedback, for a class of n-dimensional homogeneous systems whose Jacobian linearization is neither controllable nor observable. A new output feedback control scheme is proposed for the explicit design of both homogeneous observers and controllers. While the smooth state feedback control law is constructed based on the tool of adding a power integrator, the observer design is new and carried out by developing a machinery, which makes it possible to assign the observer gains one-by-one, in an iterative manner. Such design philosophy is fundamentally different from that of the traditional "Luenberger" observer in which the observer gain is determined by observability. In the case of linear systems, our design method provides not only a new insight but also an alternative solution to the output feedback stabilization problem. For a class of high-order nonhomogeneous systems, we further show how the proposed design method, with an appropriate modification, can still achieve global output feedback stabilization. Examples and simulations are given to demonstrate the main features and effectiveness of the proposed output feedback control schemes.