Global Output Feedback Stabilization of a Class of Nonlinear Systems With Multiple Output

This paper considers global output feedback stabilization of a class of upper-triangular nonlinear systems with multiple outputs. By coupling a finite-time convergent observer and a saturated homogeneous stabilizer, the global output feedback stabilization can be achieved without the homogeneous growth condition. The proposed techniques are also extended to more general complex nonlinear systems. Various examples, including a ball-and-beam mechanical system and a planar vertical takeoff and landing aircraft, are presented to illustrate the design.