Robust Asymptotic Stabilization of Nonlinear Systems with Non-Hyperbolic   Zero Dynamics
  In this paper we present a general tool to handle the presence of zero dynamics which are asymptotically but not locally exponentially stable in problems of robust nonlinear stabilization by output feedback. We show how it is possible to design locally Lipschitz stabilizers under conditions which only rely upon a partial detectability assumption on the controlled plant, by obtaining a robust stabilizing paradigm which is not based on design of observers and separation principles. The main design idea comes from recent achievements in the field of output regulation and specifically in the design of nonlinear internal models. 
L. Marconi, L. Praly, A. Isidori