Robust Control Lyapunov Functions

  • Randy A. Freeman
  • Petar Kokotović
Part of the Modern Birkhäuser Classics book series (MBC)


Significant advances in the theory of linear robust control in recent years have led to powerful new tools for the design and analysis of control systems. A popular paradigm for such theory is depicted in Figure 3.1, which shows the interconnection of three system blocks G, K, and Δ. The plant G relates a control input u and a disturbance input v to a measurement output y and a penalized output z. The control input u is generated from the measured output y by the controller K. All uncertainty is located in the block Δ which generates the disturbance input v from the penalized output z. The plant G, which is assumed to be linear and precisely known, may incorporate some nominal plant as well as frequency-dependent weights on the uncertainty Δ (for this reason G is sometimes called a generalized plant). Once G is determined, the robust stabilization problem is to construct a controller K which guarantees closed-loop stability for all systems Δ belonging to a given family of admissible (possibly nonlinear) uncertain systems.


LYAPUNOV Function Robust Stabilization Admissible Control Gain Function Control Constraint 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

Copyright information

© Birkhäuser Boston 2008

Authors and Affiliations

  • Randy A. Freeman
    • 1
  • Petar Kokotović
    • 2
  1. 1.Department of Electrical and Computer EngineeringNorthwestern UniversityEvanstonUSA
  2. 2.Department of Electrical and Computer EngineeringUniversity of CaliforniaSanta BarbaraUSA

Personalised recommendations