Design of the constrained controllers for uncertain nonlinear systems using the Lyapunov stability theory (Q5926842)

The author considers the dynamics of a nonlinear, \(n\)-dimensional real-analytic, state-space system with constraints on the control inputs. To design control laws which robustly stabilize this nonlinear uncertain system he uses nonquadratic Lyapunov functions. Such nonquadratic Lyapunov functions lead to nonlinear feedbacks which are needed to achieve conflicting design objectives. This method has a lot of advantages in comparison with the maximum principle, the calculus of variations and the Hamilton-Jacobi theory, because it permits to solve the robust tracking control problem using the Lyapunov function derivative and according to the structure of this derivative to formulate sufficient conditions under which the robust control problem is solved.