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Asymptotic controllability implies feedback stabilization
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DOI：10.1109/9.633828.png)
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Abstract
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It is shown that every asymptotically controllable system can be globally stabilized by means of some (discontinuous) feedback law. The stabilizing strategy is based on pointwise optimization of a smoothed version of a control-lyapunov function, iteratively sending trajectories into smaller and smaller neighborhoods of a desired equilibrium. A major technical problem, and one of the contributions of the present paper, concerns the precise meaning of ''solution'' when using a discontinuous controller.
Keywords:
control-Lyapunov functions
feedback
nonsmooth analysis
stabilization
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