Geodesic
Separation Principle for Nonlinear Systems: a Bilinear Approach
International Journal of Applied Mathematics and Computer Science, Tome 11 (2001) no. 2, pp. 481-492.

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In this paper we investigate the local stabilizability of single-input nonlinear affine systems by means of an estimated state feedback law given by a bilinear observer. The associated bilinear approximating system is assumed to be observable for any input and stabilizable by a homogeneous feedback law of degree zero. Furthermore, we discuss the case of planar systems which admit bad inputs (i.e. the ones that make bilinear systems unobservable). A separation principle for such systems is given.
Keywords: nonlinear systems, bilinear systems, observer, stabilization
Mots-clés : układ nieliniowy, układ dwuliniowy, obserwator, stabilizacja 
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     author = {Hammani, M. A. and Jerbi, H.},
     title = {Separation {Principle} for {Nonlinear} {Systems:} a {Bilinear} {Approach}},
     journal = {International Journal of Applied Mathematics and Computer Science},
     pages = {481--492},
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Hammani, M. A.; Jerbi, H. Separation Principle for Nonlinear Systems: a Bilinear Approach. International Journal of Applied Mathematics and Computer Science, Tome 11 (2001) no. 2, pp. 481-492. http://geodesic.mathdoc.fr/item/IJAMCS_2001_11_2_a8/