  This work has the goal of briefly surveying some key stabilization techniques
for general nonlinear systems, for which, as it is well known, a smooth control
Lyapunov function may fail to exist. A general overview of the situation with
smooth and nonsmooth stabilization is provided, followed by a concise summary
of basic tools and techniques, including general stabilization, sliding-mode
control and nonsmooth backstepping. Their presentation is accompanied with
examples. The survey is concluded with some remarks on computational aspects
related to determination of sampling times and control actions.
