Control design and stabilization analysis of non-linear systems using angular representations

The stabilization of non-linear systems using the angular method are considered in this paper. Using the angular method, the system is converted into two subsystems. One is a non-linear equation on a sphere and the other is a radial differential equation. The control is designed by considering the radial subsystem. The radial control can be continuous or discontinuous depending on the structure of the input map. Whenever the input map of the radial subsystem is zero, the radial control is not accessible. In this paper methods for removing this obstacle are presented.