This lecture will present some new results on global stabilization by output feedback 

for nonminimum-phase nonlinear systems of a cascade configuration that consists of 

a driven system (inverse dynamics) and a driving system. Although the zero dynamics 

may be unstable, there exists an output feedback control law, globally stabilizing the 

nonlinear system, if both the driven and driving systems have a triangular form and 

satisfy a global Lipschitz-like condition, and the inverse dynamics is input-to-state 

stabilizable. A controller design algorithm, examples and simulation results are presented 

to demonstrate the control strategy and its effectiveness. Discussion will be given on control 

of nonminimum-phase nonlinear systems, a challenging and important open research topic.