Finite-time output feedback stabilization of lower-triangular nonlinear systems

The finite-time stabilization of a general class of lower-triangular nonlinear systems using output feedback is addressed in this paper. The system nonlinearities are only required to be Hölder continuous with output-dependent Hölder coefficients. A new constructive output-feedback, finite-time controller design is proposed based on a finite-time observer. Rigorous finite-time stability analysis is given for the closed-loop observer-controller system. A practical example of controlling a robotic model is adopted to illustrate the proposed method.