Polytopic control Lyapunov functions for robust stabilization of a class of nonlinear systems

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

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

4 Scopus citations

Abstract

Nonlinear control systems can be stabilized by constructing control Lyapunov functions and computing the regions of state space over which such functions decrease along trajectories of the closed loop system under an appropriate control law. For systems whose dynamics are nonlinear in only a few state variables, we develop a method for computing such a region based on a given polytopic control Lyapunov function. The procedure is computationally tractable, in the sense that computation times vary polynomially with the state dimension for a fixed number of `nonlinear states.' Control constraints and robustness to bounded disturbances are easily incorporated into this framework.
Original languageEnglish (US)
Title of host publicationProceedings of the American Control Conference
PublisherIEEEPiscataway, NJ, United States
Pages416-419
Number of pages4
StatePublished - Jan 1 1997
Externally publishedYes

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