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Switching-Driving Lyapunov Function and the Stabilization of the Ball-and-Plate System

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3 Author(s)
Casagrande, D. ; Dipt. di Ing. Elettr., Gestionale e Meccanica, Univ. degli Studi di Udine, Udine, Italy ; Astolfi, A. ; Parisini, T.

This note introduces the notion of switching-driving Lyapunov function which can be used to provide a sufficient stabilizability condition for general nonlinear systems. The theory is illustrated by means of the ldquoball-and-platerdquo system, for which locally stabilizing control laws are explicitly derived.

Published in:

Automatic Control, IEEE Transactions on  (Volume:54 ,  Issue: 8 )