BattilottiSASI Sponsor2020-09-172020-09-171997-01-01https://hdl.handle.net/20.500.13025/333This research was supported by Ministero dell'Universit~t e della Ricerca Scientifica e Tecnologica and by Agenzia Spaziale Italiana under contract RS17, 1994.In this paper we show that if a certain class of nonlinear systems is globally asymptotically stabilizable through an n-dimensional output feedback controller then it can be always stabilized through an (n − p)-dimensional output feedback controller, where p is the number of outputs and n is the dimension of the state space. This result gives an alternative construction of reduced order controllers for linear systems, and recovers in a more general framework the concept of dirty derivative, used in the framework of rigid and elastic joint robots, and gives an alternative procedure for designing reduced-order controllers for nonlinear systems considered in the existing literature.enjournal articlehttps://www.sciencedirect.com/science/article/abs/pii/S0167691196000771?via%3Dihub54dcce078580fe1368eeae95