Robust Stabilization of Nonlinear Systems by Quantized and Ternary   Control
  Results on the problem of stabilizing a nonlinear continuous-time system by a finite number of control or measurement values are presented. The basic tool is a discontinuous version of the so-called semi-global backstepping lemma. We derive robust practical stabilizability results by quantized and ternary controllers and apply them to some significant control problems. 
C. De Persis