Lyapunov functions for time-varying systems satisfying generalized conditions of Matrosov theorem
Lyapunov's second method is prevalent in stability and robustness analysis of nonlinear systems. In recent years, its different versions were used for controller design of nonlinear systems. Different generalizations of the classical Matrosov theorem that use an arbitrary number of auxiliary functions to conclude uniform asymptotic stability have been recently reported in \textit{A. Loria} et al. [IEEE Trans. Autom. Control 50, 183--198 (2005)]. The proofs presented here do not provide a construction of a strong Lyapunov function and conclude uniform asymptotic stability by considering directly the behavior of the trajectories of the system. The main purpose of this paper is to construct strong Lyapunov functions using appropriate generalized Matrosov conditions that are inspired by main results in Loria et al. In particular, each of these results assumes existence of an appropriate weak Lyapunov function and a set of Lyapunov-like functions to provide explicit formulas for constructing a strong Lyapunov function. The main results are illustrated by constructing a strong Lyapunov function for the pendulum equations controlled by an adaptive controller and, in a second step, by using this Lyapunov function to determine a feedback rendering the closed-loop system globally ISS with respect to an additive disturbance in the input. The presented results can also be applied to a class of nonholonomic systems and to a class of Euler-Lagrange systems controlled by the LI-Slotine model reference adaptive controller.
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