A complete parameterization of clf‐based input‐to‐state stabilizing control laws

Medientyp: E-Artikel
Titel: A complete parameterization of clf‐based input‐to‐state stabilizing control laws
Beteiligte: Curtis, J. W.; Beard, Randal W.
Erschienen: Wiley, 2004
Erschienen in: International Journal of Robust and Nonlinear Control, 14 (2004) 17, Seite 1393-1420
Sprache: Englisch
DOI: 10.1002/rnc.961
ISSN: 1049-8923; 1099-1239
Schlagwörter: Electrical and Electronic Engineering ; Industrial and Manufacturing Engineering ; Mechanical Engineering ; Aerospace Engineering ; Biomedical Engineering ; General Chemical Engineering ; Control and Systems Engineering
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Beschreibung: <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>

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