http://popups.lib.uliege.be/1373-5411/index.php?id=433 This paper presents a backstepping procedure for the design of discontinuous time invariant state feedback controllers for the stabilization of nonholonomic systems in chained form. To highlight its effectiveness, our procedure is applied to two nonholonomic physical systems, namely, a unicycle and a car-like mobile robots. It is worth noticing that this approach may be considered as new systematic way to design time-invariant discontinuous controllers for nonholonomic systems. Full text issues Volume 2 Physical and Engineering Systems fr Thu, 27 Jun 2024 10:51:09 +0200 Fri, 28 Jun 2024 17:03:42 +0200 http://popups.lib.uliege.be/1373-5411/index.php?id=433 0