Remarks on Control Lyapunov Functions for Discontinuous Stabilizing Feedback
نویسندگان
چکیده
We present a formula for a stabilizing feedback law under the assumption that a piecewise smooth controlLyapunov function exists. The resulting feedback is continuous at the origin and smooth everywhere except on a hypersurface of codimension 1. We provide an explicit and “universal” formula. Finally, we mention a general result connecting asymptotic controllability and the existence of control-Lyapunov functions in the sense of nonsmooth optimization.
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تاریخ انتشار 1993