On Relaxed Conditions of Integral ISS for Multistable Periodic Systems

A novel characterization of the integral Inputto-State Stability (iISS) property is introduced for multistable systems whose dynamics are periodic with respect to a part of the state. First, the concepts of iISS-Leonov functions and output smooth dissipativity are introduced, then their equivalence to the properties of bounded-energy-bounded-state and global attractiveness of solutions in the absence of disturbances are proven. The proposed approach permits to relax the usual requirements of positive definiteness and periodicity of the iISS-Lyapunov functions. Moreover, the usefulness of the theoretical results is illustrated by a robustness analysis of a nonlinear pendulum with a constant bias input and an unbounded statedependent input coefficient.