abstract bibtex

Construction of a Control Lyapunov Function (CLF) for a nonlinear system is generally a diﬃcult problem, but once a CLF is found, stabilization of the system is straight-forward. In this paper, we present an algorithm that searches for CLFs for polynomial systems that are aﬃne in control using sums of squares programming. We also present an algorithm for searching local CLFs for the same class of nonlinear system when global asymptotic stabilization is not possible.

@article{tan_searching_nodate, title = {Searching for {Control} {Lyapunov} {Functions} using {Sums} of {Squares} {Programming}}, abstract = {Construction of a Control Lyapunov Function (CLF) for a nonlinear system is generally a diﬃcult problem, but once a CLF is found, stabilization of the system is straight-forward. In this paper, we present an algorithm that searches for CLFs for polynomial systems that are aﬃne in control using sums of squares programming. We also present an algorithm for searching local CLFs for the same class of nonlinear system when global asymptotic stabilization is not possible.}, language = {en}, author = {Tan, Weehong and Packard, Andrew}, pages = {10} }

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