Constructive Lyapunov stabilization of nonlinear cascade systems
- AUTHORS: M. Jankovic, R. Sepulchre, P. Kokotovic.
We present a global stabilization procedure for
nonlinear cascade and feedforward systems which extends the existing stabilization results. Our main tool is the construction of a Lyapunov function for a class of (globally stable) uncontrolled cascade systems. This construction serves as a
basis for a recursive controller design for
cascade and feedforward systems. We give conditions
for continuous differentiability of
the Lyapunov function and the resulting control law, and propose methods for
their exact and approximate computation.
- KEY WORDS: Lyapunov functions, stabilization, cascade systems, recursive designs.
- STATUS: published in IEEE Transactions on Automatic Control, vol. 41, no 12, pp. 1723-1735, 1996.
- Preliminary version published in Proceedings of 34th IEEE Conference on Decision and Control, New-Orleans,
December 95 (6 pages).