Design of a Control Lyapunov Function for Stabilizing Specified States
نویسندگان
چکیده
This paper focuses on the design of control Lyapunov function for control affine systems to guarantee the stability for the states of interest in a specified region. Without restrictive assumptions found in previous approaches, a min-max optimization problem is formulated to solve for a quadratic Lyapunov function. A derivative-free coordinate search method is employed to optimize a non-differentiable objective function. Approximation of the objective function as a piecewise linear function gradually reduces search space, leading to an effective Lyapunov function. A CSTR example with actuator saturation is illustrated to demonstrate the efficacy of the proposed approach.
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