CONTROL-LYAPUNOV UNIVERSAL FORMULAS FOR RESTRICTED INPUTS

摘要

We deal with the question of obtaining explicit feedback control laws that stabilize a nonlinear system, under the assumption that a "control Lyapunov function" is known. In a previous work, the case of unbounded controls was considered. Here, we obtain results for bounded and/or positive controls. We also provide some simple preliminary remarks regarding a set stability version of the problem and a version for systems subject to disturbances.