Robust Output Feedback Stabilization of MIMO Invertible Nonlinear Systems with Output-Dependent Multipliers (extended version)

This note studies the robust output feedback stabilization problem of multi-input multi-output invertible nonlinear systems with output-dependent multipliers. An "ideal" state feedback is first designed under certain mild assumptions. Then, a set of extended low-power high-gain observers is systematically designed, providing a complete estimation of the "ideal" feedback law. This yields a robust output feedback stabilizer such that the origin of the closed-loop system is semiglobally asymptotically stable, while improving the numerical implementation with the power of high-gain parameters up to 2.