On assigning the derivative of a disturbance attenuation clf
نویسندگان
چکیده
This paper2 considers feedback design for nonlinear, multi-input affine control systems with disturbances. It studies the problem of assigning, by choice of feedback, a desirable upper bound to a given control Lyapunov function (clf) candidate's derivative along closed-loop trajectories. Specific choices for the upper bound are motivated by C2 and C, disturbance attenuation problems. The main result leads to corollaries on "backstepping" locally Lipschitz disturbance attenuation control laws that are perhaps implicitly defined through a locally Lipschitz equation. The results emphasize that only rough information about the clf is needed to synthesize a suitable controller.
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