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lyapunov design.

ESAIM: Control, Optimisation and Calculus of Variations (1)

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Control Lyapunov functions for homogeneous “Jurdjevic-Quinn” systems
ludovic faubourg, jean-baptiste pomet
Journal:

ESAIM: Control, Optimisation and Calculus of Variations / Volume 5 / 2000

Published online by Cambridge University Press:

15 August 2002, pp. 293-311

Print publication:

2000
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This paper presents a method to design explicit control Lyapunov functions for affine and homogeneous systems that satisfy the so-called “Jurdjevic-Quinn conditions”. For these systems a positive definite function V0 is known that can only be made non increasing by feedback. We describe how a control Lyapunov function can be obtained via a deformation of this “weak” Lyapunov function. Some examples are presented, and the linear quadratic situation is treated as an illustration.