Symmetry‐Based Control and State Estimation of Nonlinear Systems in Prescribed Time

ABSTRACT In this paper, we design novel types of smooth time‐varying controllers/observers for lower triangular nonlinear systems with prescribed time convergence. We prove the results under very mild conditions: No global restrictions or bounds on the nonlinearities are required, but only locally Lipschitz conditions or the existence of solutions over finite intervals. Our smooth time‐varying controllers/observers have completely different features in comparison with traditional homogenous or sliding‐mode controllers/observers and existing smooth time‐varying controllers/observers, being designed with a symmetry‐based strategy.