This note introduces the notion of switching-driving Lyapunov function which can be used to provide a sufficient stabilizability condition for general nonlinear systems. The theory is illustrated by means of the "ball-and-plate" system, for which locally stabilizing control laws are explicitly derived. © 2009 IEEE.
Switching-Driving Lyapunov Function and the Stabilization of the Ball-and-Plate System
CASAGRANDE, Daniele;
2009-01-01
Abstract
This note introduces the notion of switching-driving Lyapunov function which can be used to provide a sufficient stabilizability condition for general nonlinear systems. The theory is illustrated by means of the "ball-and-plate" system, for which locally stabilizing control laws are explicitly derived. © 2009 IEEE.File in questo prodotto:
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