[en] nonlinear systems ; global stabilization ; design methods ; feedforward systems
[en] We consider the global stabilization of nonlinear systems in strict feedforward form. We show that these systems, while not feedback linearizable, can be (globally) transformed by feedback and diffeomorphism into a lower-triangular form. The transformation is explicit and recursive. We employ this transformation to design a globally stabilizing controller with optimality properties and an input-to-state stability property with respect to matched uncertainties.