| A Unifying Integral Iss Framework For Stability Of Nonlinear Cascades (2002) | |||||||||||||||||
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| We analyze nonlinear cascades in which the driven subsystem is integral input-tostate stable (ISS), and we characterize the admissible integral ISS gains for stability. This characterization makes use of the convergence speed of the driving subsystem and allows a larger class of gain functions when the convergence is faster. We show that our integral ISS gain characterization unifies di#erent approaches in the literature which restrict the nonlinear growth of the driven subsystem and the convergence speed of the driving subsystem. The result is used to develop a new observer-based backstepping design in which the growth of the nonlinear damping terms is reduced. Ke words. nonlinear cascades, stabilization, integral input-to-state stability AMS sub je classifications. 93C10, 93D05, 93D15, 93D25 PII. S0363012901387987 1. | |||||||||||||||||
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