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arXiv · 2512.20226

Robust safety design for strict-feedback nonlinear systems via observer-based linear time varying feedback

Imtiaz Ur Rehman·Moussa Labbadi·Amine Abadi·Lew Lew Yan Voon
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Abstract

This paper develops a robust safety-critical control method for nonlinear strictfeedback systems with mismatched disturbances. Using a state transformation and a linear time-varying disturbance observer, the system is converted into a form that enables safe control design. The approach ensures forward invariance of the safety set and also applies to disturbancefree systems. Safety is proven for all cases, and a numerical example illustrates the results.

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Imtiaz Ur Rehman, Moussa Labbadi, Amine Abadi, Lew Lew Yan Voon. 2025-12-23. Robust safety design for strict-feedback nonlinear systems via observer-based linear time varying feedback. https://arxiv.org/abs/2512.20226

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