Uniform semiglobal practical asymptotic stability for non-autonomous   cascaded systems and applications
  It is due to the modularity of the analysis that results for cascaded systems have proved their utility in numerous control applications as well as in the development of general control techniques based on ``adding integrators''. Nevertheless, the standing assumptions in most of the present literature on cascaded systems is that, when decoupled, the subsystems constituting the cascade are uniformly globally asymptotically stable (UGAS). Hence existing results fail in the more general case when the subsystems are uniformly semiglobally practically asymptotically stable (USPAS). This situation is often encountered in control practice, e.g., in control of physical systems with external perturbations, measurement noise, unmodelled dynamics, etc. This paper generalizes previous results for cascades by establishing that, under a uniform boundedness condition, the cascade of two USPAS systems remains USPAS. An analogous result can be derived for USAS systems in cascade. Furthermore, we show the utility of our results in the PID control of mechanical systems considering the dynamics of the DC motors. 
A. Chaillet and A. Loria