A family of piecewise affine control Lyapunov functions

• Autores: Ngoc Anh Nguyen, Sorin Olaru
• Localización: Automatica: A journal of IFAC the International Federation of Automatic Control, ISSN 0005-1098, Vol. 90, 2018, págs. 212-219
• Idioma: inglés
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• Resumen

  • This paper presents a novel method to construct a family of piecewise affine control Lyapunov functions. Unlike most of existing methods which require the contractivity of their domain of definition, the proposed control Lyapunov functions are defined over a so-called N-step controllable set, which is known not to be contractive. Accordingly, a robust control design procedure is presented which only requires solving a linear programming problem at each sampling time. The construction is finally illustrated via a numerical example.