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Robust stabilization for single-input polytopic nonlinear systems
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DOI：10.1109/TAC.2006.880778.png)
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Abstract
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This note deals with the stabilization problem of single-input polytopic nonlinear systems. The robust control Lyapunov function approach is used to derive a sufficient condition for the existence of time-invariant, continuous, asymptotically stabilizing state feedback controllers. The obtained sufficient condition is proven also necessary for the existence of stabilizing state feedback controllers such that the closed-loop system has a robust Lyapunov function for all possible uncertainties. In addition, a universal formula for constructing stabilizing controllers when the presented sufficient condition is met is provided. The results are illustrated by a numerical example.
Keywords:
continuous-time systems
control Lyapunov function
nonlinear systems
polytopic systems
state feedback
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