Nonquadratic Lyapunov functions for robust control (Q1893001)

The paper considers a linear continuous-time uncertain system with disturbances of the type \(\dot x (t) = A(w(t)) x(t) + B(w(t)) u(t) + Ev(t)\), where the uncertainty \(w(t)\) and the disturbance \(v(t)\) belong to preassigned compact sets and the matrices \(A(\cdot)\) and \(B(\cdot)\) depend continuously on the uncertainty. The problem consists in finding, the Lyapunov function approach, a continuous feedback control so that the solutions of the system are ultimately forced to belong to a target convex set \(X\). The author proposes to use polyhedral norms as Lyapunov functions. He proves that this class is universal in the sense that if there is a Lyapunov function and a continuous feedback, then there is also a polyedral Lyapunov function and a piecewise linear control. Moreover if the uncertainty constraint sets are polyhedral, then a numerical technique is proposed for constructing the controller.