This paper presents a proof that the use of polynomial Lyapunov functions is not conservative for studying exponential stability properties of nonlinear ordinary differential equations on bounded regions. The main result implies that if there exists an n-times continuously differentiable Lyapunov function which proves exponential decay on a bounded subset of R, then there exists a polynomial Ly...

We consider an arbitrary number of interconnected nonlinear systems with time-delays and investigate them in view of input-to-state stability (ISS). The useful tools for single time-delay systems, the ISS Lyapunov-Razumikhin functions and ISS Lyapunov-Krasovskii functionals are redefined and applied to interconnected systems. By the help of a smallgain condition we prove that the whole system w...

We consider stability with respect to two measures of a difference inclusion, i.e., of a discrete-time dynamical system with the push-forward map being set-valued. We demonstrate that robust stability is equivalent to the existence of a smooth Lyapunov function and that, in fact, a continuous Lyapunov function implies robust stability. We also present a sufficient condition for robust stability...

Adaptive Horizon Model Predictive Control (AHMPC) is a scheme for varying as needed the horizon length of Model Predictive Control (MPC). Its goal is to achieve stabilization with horizons as small as possible so that MPC can be used on faster or more complicated dynamic processes. Beside the standard requirements of MPC including a terminal cost that is a control Lyapunov function, AHMPC requi...

This paper presents Lyapunov functions for proving stability of steady gliding motions for vehicles with hydrodynamic or aerodynamic forces and moments. Because of lifting forces and moments, system energy cannot be used as a Lyapunov function candidate. A Lyapunov function is constructed using a conservation law discovered by Lanchester in his classical work on phugoid-mode dynamics of an airp...