Necessary and Sufficient Lyapunov-Like Conditions for Robust Nonlinear Stabilization

Details Necessary and Sufficient Lyapunov-Like Conditions for Robust Nonlinear Stabilization Necessary and Sufficient Lyapunov-Like Conditions for Robust Nonlinear Stabilization

2008-01-30

arxiv.org/abs/0801.4717v1

Mathematics

Optimization and Control

44 pages

Scientific paper

In this work, we propose a methodology for the expression of necessary and sufficient Lyapunov-like conditions for the existence of stabilizing feedback laws. The methodology is an extension of the well-known Control Lyapunov Function (CLF) method and can be applied to very general nonlinear time-varying systems with disturbance and control inputs, including both finite- and infinite-dimensional systems. The generality of the proposed methodology is also reflected upon by the fact that partial stability with respect to output variables is addressed. In addition, it is shown that the generalized CLF method can lead to a novel tool for the explicit design of robust nonlinear controllers for a class of time-delay nonlinear systems with a triangular structure.

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