Asymptotic pole locations and nonlinear controllers

This note generalizes a recently introduced method which produces nonlinear controllers by assigning suitable state dependence to a scalar parameter in an existing stable controller. The form of state dependence is guided by properties of the original controller. For example, variations in
T
of the modified receding horizon controller are guided by the fact, proved here, that the poles associated with that controller lie to the left of (
-1/2T
). Nonlinearization of the LQR is also described.