Global Stabilization of Systems Containing a Double Integrator Using a Saturated Linear Controller
نویسنده
چکیده
In this paper, we present a Lyapunov function for systems containing a double integrator and with controller saturation. This Lyapunov function is composed of a positive-semide"nite quadratic term and an integral term. The main result provides a su$cient condition that guarantees a system with a double integrator can be globally stabilized by a saturating linear controller. For a triple-integrator system the saturated linear controller does not satisfy the su$cient condition, which agrees with the known result. Copyright ( 1999 John Wiley & Sons, Ltd.
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