Immersion and invariance stabilization of strict-feedback dynamics under sampling

The paper deals with sampled-data stabilization of continuous-time dynamics in strict-feedback form via Immersion and Invariance. Starting from the characterization of the sampled-data target dynamics and its invariant manifold, a multi-rate control law is designed to achieve attractiveness and invariance of such a manifold. Simulations on an academic example and a practical case illustrate the performances.