Necessary and sufficient conditions for the existence of Liapunov function of Lur'e form with \(\dot V\leq 0\) (Q2640541)

This paper considers the control problem \(\dot x=Ax+Bf(\sigma)\), \(\sigma =C^ Tx\), where A, B and C are real, A is stable and \(f(\sigma_ 1,...,\sigma_ m)=(f_ 1(\sigma_ 1),f_ 2(\sigma_ 2),...,f_ m(\sigma_ m))^ T\) is nonlinear. Necessary and sufficient conditions are given for the existence of a Lyapunov function V in Lur's form \[ V(x)=x^ TPx+\sum^{m}_{j=1}\theta_ j\int^{\sigma_ j}_{0}f_ j(\sigma_ j)d\sigma_ j, \] \(\theta_ j\geq 0\), i.e. \(\dot V\leq 0\) on trajectories. This develops previous work on striclty decreasing Lyapunov functionals.