Global Stabilization of the Generalized MIMO Triangular Systems With Singular Input-Output Links

This work is devoted to the problem of global stabilization for a class of the general multi-input and multi-output (MIMO) triangular systems which are not feedback linearizable. To solve the problem, we develop a specific backstepping procedure and generalize some existing results. Since we deal with the global stabilization for the singular and MIMO case, the technique of the proof differs from the standard backstepping algorithms.