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

9 Scopus citations


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
Number of pages5
StatePublished - Jan 1 1997
Externally publishedYes

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