Title :
Remarks on control Lyapunov functions for discontinuous stabilizing feedback
Author :
Lafferriere, G.A. ; Sontag, Eduardo D.
Author_Institution :
Dept. of Math., Portland State Univ., OR, USA
Abstract :
We present a formula for a stabilizing feedback law under the assumption that a piecewise smooth control-Lyapunov function exists. The resulting feedback is continuous at the origin and smooth everywhere except on a hypersurface of codimension 1. We provide an explicit and `universal´ formula. Finally, we mention a general result connecting asymptotic controllability and the existence of control-Lyapunov functions in the sense of nonsmooth optimization
Keywords :
Lyapunov methods; feedback; stability; asymptotic controllability; codimension 1 hypersurface; discontinuous stabilizing feedback; nonsmooth optimization; piecewise smooth control-Lyapunov function; Control systems; Controllability; Force control; Joining processes; Lyapunov method; Mathematics; Stability; State feedback; Time varying systems;
Conference_Titel :
Decision and Control, 1993., Proceedings of the 32nd IEEE Conference on
Conference_Location :
San Antonio, TX
Print_ISBN :
0-7803-1298-8
DOI :
10.1109/CDC.1993.325127
