A family of piecewise affine control Lyapunov functions

Abstract : This paper presents a novel method to construct a family of piecewise affine control Lyapunov functions. Unlike most of existing methods which require the contractivity of their domain of definition, the proposed control Lyapunov functions are defined over a so-called N −step controllable set, which is known not to be contractive. Accordingly, a robust control design procedure is presented which only requires solving a linear programming problem at each sampling time. The construction is finally illustrated via a numerical example.
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Automatica, Elsevier, 2018, 90, pp.212-219. 〈10.1016/j.automatica.2017.12.052 〉
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Dernière modification le : mercredi 21 novembre 2018 - 17:06:17
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Ngoc Anh Nguyen, Sorin Olaru. A family of piecewise affine control Lyapunov functions. Automatica, Elsevier, 2018, 90, pp.212-219. 〈10.1016/j.automatica.2017.12.052 〉. 〈hal-01692257〉

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