Numerical construction of nonsmooth control Lyapunov functions (Q2415210)

Lyapunov control functions are computed by means of linear programming and mixed integer linear programming. A mixed integer linear program based on a discretization of the state space is proposed, where a continuous piecewise affine control Lyapunov function can be recovered from the solution of the optimization problem. Differences to previous work are stressed, in particular the role of the considered semiconcavity. The new results are illustrated on the example of Artstein's circles and on a two-dimensional system with two inputs, the underlying optimization problems being solved in Gurobi. For the entire collection see [Zbl 1407.90006].