Media type: E-Article Title: A complete parameterization of clf‐based input‐to‐state stabilizing control laws Contributor: Curtis, J. W.; Beard, Randal W. imprint: Wiley, 2004 Published in: International Journal of Robust and Nonlinear Control, 14 (2004) 17, Seite 1393-1420 Language: English DOI: 10.1002/rnc.961 ISSN: 1049-8923; 1099-1239 Keywords: Electrical and Electronic Engineering ; Industrial and Manufacturing Engineering ; Mechanical Engineering ; Aerospace Engineering ; Biomedical Engineering ; General Chemical Engineering ; Control and Systems Engineering Origination: Footnote: Description: <jats:title>Abstract</jats:title><jats:p>Sontag's formula proves constructively that the existence of a control Lyapunov function implies asymptotic stabilizability. A similar result can be obtained for systems subject to unknown disturbances via input‐to‐state stabilizing control Lyapunov functions (ISS‐clfs) and the input‐to‐state analogue of Sontag's formula. The present paper provides a generalization of the ISS version of Sontag's formula by completely parameterizing all continuous ISS control laws that can be generated by a known ISS‐clf. When a simple inner‐product constraint is satisfied, this parameterization also conveniently describes a large family of ISS controls that solve the inverse‐optimal gain assignment problem, and it is proved that these controls possess Kalman‐type gain margins. Copyright © 2004 John Wiley & Sons, Ltd.</jats:p>