Ignored input dynamics and a new characterization of control Lyapunov functions (Q5935477)

The problem addressed in this paper is the global asymptotic stabilization of the system \[ \dot x= f(x)+ g(x)y,\tag{1} \] whose input \(y\) is generated by ``ignored'' or ``uncertain'' dynamics \[ \dot z= j(z, x,u),\quad y= h(z, x,u).\tag{2} \] For this purpose the authors aim to design a static feedback \(u= k(x)\) by combining the knowledge of a control Lyapunov function for the nominal system (1) and a dissipativity property of system (2) with respect to a given supply rate. The main result exploits a new characterization of control Lyapunov functions. The relationship with different approaches available in the literature and intrinsic limitations of the present approach are extensively discussed.