%0 Conference Paper %B MTNS 2006 %D 2006 %T Integral Input to State Stability for cascaded systems %A A. Chaillet %A D. Angeli %K Robotics %X

The Integral Input to State Stability (iISS) property is studied is the context of nonlinear time-invariant systems in cascade. A sufficient condition is given, in terms of the storage function of each subsystem, to ensure that the cascade composed of an iISS system driven by a Globally Asymptotically Stable (GAS) one remains GAS. Some sufficient conditions for the preservation of the iISS property under a cascade interconnection are also presented.

%B MTNS 2006 %C Kyoto, Japan %8 July %G eng