Remarks on control Lyapunov functions for discontinuous stabilizing feedback
- 30 December 2002
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 306-308
- https://doi.org/10.1109/cdc.1993.325127
Abstract
We present a formula for a stabilizing feedback law under the assumption that a piecewise smooth control-Lyapunov function exists. The resulting feedback is continuous at the origin and smooth everywhere except on a hypersurface of codimension 1. We provide an explicit and 'universal' formula. Finally, we mention a general result connecting asymptotic controllability and the existence of control-Lyapunov functions in the sense of nonsmooth optimization.Keywords
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