This chapter is devoted to homogeneous stabilizationHomogeneous stabilization (see Chap.  9 ) of nonlinear plants. A criterion of homogeneous stabilizability of a nonlinear plant by a dynamic homogeneous feedback is obtained based on Sontag’s universal stabilizer formula. A homogeneous convex embedding technique is utilized for robust stabilization of affine-in-control nonlinear systems. Locally homogeneous feedback laws are designed for global rigid-body attitude tracking and unicycle mobile robot control.