{'fraction_non_alphanumeric': 0.013157894736842105, 'fraction_numerical': 0.0, 'mean_word_length': 5.833333333333333, 'pattern_counts': {'":': 0, '<': 0, '<?xml version=': 0, '>': 0, 'https://': 0, 'lorem ipsum': 0, 'www.': 0, 'xml': 0}, 'pii_count': 0, 'substrings_counts': 0, 'word_list_counts': {'cursed_substrings.json': 0, 'profanity_word_list.json': 0, 'sexual_word_list.json': 0, 'zh_pornsignals.json': 0}}
State and output feedback stabilization of multiple chained systems with discontinuous control

The problem of state and output feedback stabilization of nonholonomic multiple chained systems is addressed and solved using a particular class of discontinuous control laws. The obtained control laws are relatively simple, compared with others existing in the current literature, and guarantee exponential convergence of the closed loop system. A simulation example, showing the main features of the proposed controllers, is enclosed.