Construction of Control Lyapunov Functions for a Class of Nonlinear Systems

被引：3

作者：

CAI XiuShan HAN ZhengZhi WANG XiaoDong College of Information Science and Engineering Zhejiang Normal University Jinhua Department of Automation Shanghai Jiaotong University Shanghai ^{[321004
,200030
]}

机构：

来源：

自动化学报 | 2006年 / 05期

关键词：

Nonlinear systems; control Lyapunov functions; semiglobal stabilization; zero dynamics;

D O I：

10.16383/j.aas.2006.05.020

中图分类号：

TP13 [自动控制理论];

学科分类号：

摘要：

<正>The construction of control Lyapunov functions for a class of nonlinear systems is considered. We develop a method by which a control Lyapunov function for the feedback linearizable part can be constructed systematically via Lyapunov equation. Moreover, by a control Lyapunov function of the feedback linearizable part and a Lyapunov function of the zero dynamics, a control Lyapunov function for the overall nonlinear system is established.

引用

页码：796 / 799

页数：4