Control Lyapunov functions: New ideas from an old source

Randy A Freeman*, James A. Primbs

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingChapter

86 Scopus citations

Abstract

A control design method for nonlinear systems based on control Lyapunov functions and inverse optimality is analyzed. This method is shown to recover the LQ optimal control when applied to linear systems. More generally, it is shown to recover the optimal control whenever the level sets of the control Lyapunov function match those of the optimal value function. The method can be readily applied to feedback linearizable systems, and the resulting inverse optimal control law is generally much different from the linearizing control law. Examples in two dimensions are given to illustrate both the strengths and the weaknesses of the method.

Original languageEnglish (US)
Title of host publicationProceedings of the IEEE Conference on Decision and Control
Editors Anon
Pages3926-3931
Number of pages6
Volume4
StatePublished - Dec 1 1996
EventProceedings of the 35th IEEE Conference on Decision and Control. Part 4 (of 4) - Kobe, Jpn
Duration: Dec 11 1996Dec 13 1996

Other

OtherProceedings of the 35th IEEE Conference on Decision and Control. Part 4 (of 4)
CityKobe, Jpn
Period12/11/9612/13/96

ASJC Scopus subject areas

  • Chemical Health and Safety
  • Control and Systems Engineering
  • Safety, Risk, Reliability and Quality

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