We solve the problem of output feedback stabilization of a class of nonlinearsystems, which may have unstable zero dynamics. We allow for any globallystabilizing full state feedback control scheme to be used as long as itsatisfies a particular ISS condition. We show semi-global stability of theorigin of the closed-loop system and also the recovery of the performance of anauxiliary system using a full-order observer. This observer is based on the useof an extended high-gain observer to provide estimates of the output and itsderivatives plus a signal used by an extended Kalman filter to provideestimates of the remaining states. Finally, we provide a simulation examplethat illustrates the design procedure.
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