Asymptotic pole locations and nonlinear controllers

This note generalizes a recently introduced method which produces nonlinear controllers by assigning suitable state dependence to a scalar parameter in an existing stable controller. The form of state dependence is guided by properties of the original controller. For example, variations in of the modified receding horizon controller are guided by the fact, proved here, that the poles associated with that controller lie to the left of ( ). Nonlinearization of the LQR is also described.