Control Lyapunov function approach to robust stabilization of nonlinear systems

Marc W. McConley, Brent Appleby, Munther A. Dahleh, Eric Feron

Research output: Chapter in Book/Report/Conference proceedingConference contribution

8 Scopus citations

Abstract

We propose an alternative to gain scheduling for stabilizing a class of nonlinear systems. The computation times required to find stability regions for a given control Lyapunov function vary polynomially with the state dimension for a fixed number of scheduling variables. Control Lyapunov functions to various trim points are used to expand the stability region, and a Lyapunov based synthesis formula yields a control law guaranteeing stability over this region. Robustness to bounded disturbances is easily handled, and the optimal stability margin, defined as a Lyapunov derivative, is recovered asymptotically. We apply the procedure to an example.
Original languageEnglish (US)
Title of host publicationProceedings of the American Control Conference
PublisherIEEEPiscataway, NJ, United States
Pages329-333
Number of pages5
StatePublished - Jan 1 1997
Externally publishedYes

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