Global asymptotic stabilisation in probability of nonlinear stochastic systems via passivity

The purpose of this paper is to develop a systematic method for global asymptotic stabilisation in probability of nonlinear control stochastic systems with stable in probability unforced dynamics. The method is based on the theory of passivity for nonaffine stochastic differential systems combined with the technique of Lyapunov asymptotic stability in probability for stochastic differential equations. In particular, we prove that a nonlinear stochastic differential system whose unforced dynamics are Lyapunov stable in probability is globally asymptotically stabilisable in probability provided some rank conditions involving the affine part of the system coefficients are satisfied. In this framework, we show that a stabilising smooth state feedback law can be designed explicitly. A dynamic output feedback compensator for a class of nonaffine stochastic systems is constructed as an application of our analysis.