Universal formula for robust stabilization of affine nonlinear multistable systems
- Resource Type
- Conference
- Authors
- Barroso, Nelson F.; Ushirobira, Rosane; Efimov, Denis
- Source
- 2019 IEEE 58th Conference on Decision and Control (CDC) Decision and Control (CDC), 2019 IEEE 58th Conference on. :8024-8029 Dec, 2019
- Subject
- Aerospace
General Topics for Engineers
Power, Energy and Industry Applications
Robotics and Control Systems
Signal Processing and Analysis
Transportation
Lyapunov methods
Robustness
Asymptotic stability
Stability analysis
Nonlinear systems
Closed loop systems
Manifolds
- Language
- ISSN
- 2576-2370
In this paper, the problem of robust stabilization of affine nonlinear multistable systems with respect to disturbance inputs is studied. The results are obtained using the framework of input-to-state stability (ISS) and integral input-to-state stability (iISS) for systems with multiple invariant sets. The notions of ISS and iISS control Lyapunov functions as well as the small control property are extended within the multistability framework. It is verified that the universal control formula can be applied to yield the ISS (iISS) property to the closed- loop system. The efficiency of the proposed control Lyapunov function in the multistable sense is illustrated in two academic examples.