Nonlinear stabilization via control-Lyapunov measure

This paper is concerned with computational methods for Lyapunov-based control design of an attractor set of a nonlinear dynamical system. Based upon a stochastic representation of deterministic dynamics, a Lyapunov measure is used for these purposes. This paper poses and solves the co-design problem of jointly obtaining the control Lyapunov measure and a controller. The computational framework is based upon a set-oriented numerical approach. Using this approach, the co-design problem leads to a finite number of linear inequalities whose solutions define the feasible set of stabilizing controllers. We provide a proof of existence for a stochastic version of such a controller while the deterministic restriction is posed as the solution of a related integer programming problem. Mathematical programming techniques may be employed to obtain such controllers. Finally, an example is provided to illustrate the ideas.