Abstract: Integrator forwarding is a recursive nonlinear design technique for feed-forward systems.By this method, the stable control law and the control Lyapunov function of the original system can be obtained.In this paper, a developed design method is proposed in view of the limitation of the classical integrator forwarding design, hence effectively extends the field of the forwarding control.An example is provided to illustrate the effectiveness of the proposed method.

Key words: forwarding, feedforward system, control Lyapunov function, global asymptotical stable