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Universal formula for robust stabilization of affine nonlinear multistable systems

Abstract : In this paper, the problem of robust stabilization of affine nonlinear multistable systems with respect to disturbance inputs is studied. The results are obtained using the framework of input-to-state stability (ISS) and integral input-to-state stability (iISS) for systems with multiple invariant sets. The notions of ISS and iISS control Lyapunov functions as well as the small control property are extended within the multistability framework. It is verified that the universal control formula can be applied to yield the ISS (iISS) property to the closed-loop system. The efficiency of the proposed control Lyapunov function in the multistable sense is illustrated in two academic examples.
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https://hal.inria.fr/hal-02340333
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Submitted on : Wednesday, October 30, 2019 - 5:50:47 PM
Last modification on : Monday, December 14, 2020 - 5:25:22 PM

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  • HAL Id : hal-02340333, version 1

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Nelson Barroso, Rosane Ushirobira, Denis Efimov. Universal formula for robust stabilization of affine nonlinear multistable systems. Conference on Decision and Control, Dec 2019, Nice, France. ⟨hal-02340333⟩

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