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This paper deals with the output feedback stabilization problem of nonlinearmulti-input multi-output systems having an uncertain input gain matrix. It isassumed that the system has a well-defined vector relative degree and that thezero dynamics is input-to-state stable. Based on the assumption that thereexists a state feedback controller which globally asymptotically stabilizes theorigin of the nominal closed-loop system, we present an output feedbackstabilizer which recovers the stability of the nominal closed-loop system inthe semi-global practical sense. Compared to previous results, we allow thatthe nominal system can have a nonlinear input gain matrix that is a function ofstate and this is done by modifying the structure of the disturbanceobserver-based robust output feedback controller. It is expected that theproposed controller can be well applied to the case when the system'snonlinearity is to be exploited rather than canceled.

An Output Feedback Stabilizer for MIMO Nonlinear Systems with Uncertain Input Gain: Nonlinear Nominal Model