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Controller synthesis for a class of second-order nonlinear systems

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2 Author(s)
Yung, C.F. ; Dept. of Electr. Eng., Nat. Taiwan Ocean Univ., Taipei, Taiwan ; Wu, J.L.

This paper presents a constructive method to design stabilizing controllers for a class of second-order nonlinear systems whose input parts may vanish at the origin. A sufficient condition for the existence of control Lyapunov functions (CLFs) and stabilizing controllers is provided. In the case that the small control property does not hold, a formula for constructing continuous state feedback controllers to avoid extremely large control magnitude near the origin and to achieve ultimate boundedness is presented.

Published in:

American Control Conference, 2005. Proceedings of the 2005

Date of Conference:

8-10 June 2005