Title :
Nonsmooth functions and uniform limits of smooth control Lyapunov functions
Author :
Faubourg, Ludovic ; Pomet, Jean-Baptiste
Author_Institution :
LAAO, Bourgogne Univ., France
Abstract :
When is a (non-smooth) function the limit of a sequence of smooth (continuously differentiable) control Lyapunov functions? It is known that a "non-smooth control Lyapunov function in the sense of the Clarke (convex) gradient" is indeed the limit of a sequence of smooth control Lyapunov functions; we show that the converse is not true by exhibiting a counter example. We also give a condition under which a function cannot be the limit of a sequence of smooth control Lyapunov functions. Of course, a (non smooth) function that satisfies this condition cannot either be a control Lyapunov function in the sense of the Clarke gradient.
Keywords :
Lyapunov methods; asymptotic stability; functions; Clarke gradient; continuously differentiable functions; convex gradient; nonsmooth function; smooth control Lyapunov functions; uniform limits; Control systems; Counting circuits; Feedback control; Fuzzy control; Lyapunov method; Optimal control;
Conference_Titel :
Decision and Control, 2002, Proceedings of the 41st IEEE Conference on
Print_ISBN :
0-7803-7516-5
DOI :
10.1109/CDC.2002.1184809