Thus far our path has brought us to a base camp at which the design of a robustly stabilizing control law appears deceptively simple. All we need to do is find a robust control Lyapunov function (rclf); the remaining task of selecting a control law to make the Lyapunov derivative negative is straightforward. As we demonstrated in Chapter 4, explicit formulas are available for control laws which are optimal with respect to meaningful cost functionals.
KeywordsLyapunov Function Uncertain System Nominal System Local Gain Generalize Directional Derivative
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