Robust stabilization of positively constrained uncertain systems

A Lean/Artan (L/A) algorithm is proposed to locally stabilize positively constrained uncertain systems. The robust design approach consist of mapping into the original system a linear controller that guarantee the stability of a fictitious linearized closed-loop uncertain system. Among the advantages of the design methodology, the robust L/A controller is a smooth function of the states and guarantee the positiveness of the manipulated variables. A sufficient condition for the existence of a robust basic L/A controller is provided.