A controllability theory for nonlinear systems

A Lyapunov-like approach to the controllability of nonlinear dynamic systems is presented. A theory is developed which yields sufficient conditions for complete controllability for some classes of nonlinear systems; feedback controllers which drive the systems to desired terminal conditions, at a specified final time, are also obtained. Well-known controllability conditions for linear dynamic systems are derived using this general controllability theory. Elliptical regions are found which contain (bound) the trajectories of a class of systems controlled according to these methods. These regions are used in synthesizing controllers for nonlinear systems and for a class of state-variable inequality constrained problems. An uncontrollability theorem, based also upon Lyapunov-like notions, is presented; this yields sufficiency conditions for uncontrollability for some types of nonlinear systems. Relationships of the theories to other nonlinear controllability approaches are indicated.