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241 REFERENCES [1] V. Mehrmann and T. Stykel, " Balanced truncation model reduction for large-scale systems in descriptor form, " in Dimension Reduction of Large-Scale Systems, ser. A bisection method for measuring the distance of a stable matrix to the unstable matrices, " SIAM J. A fast algorithm to compute the-norm of a transfer function matrix, " Syst.… (More)

—In this technical note, two generalized corollaries to the LaSalle-Yoshizawa Theorem are presented for nonautonomous systems described by nonlinear differential equations with discontinuous right-hand sides. Lyapunov-based analysis methods that achieve asymp-totic convergence when the candidate Lyapunov derivative is upper bounded by a negative… (More)

—A saturated controller is developed for a class of uncertain, second-order, nonlinear systems which includes time-varying and nonlin-early parameterized functions with bounded disturbances using a continuous control law with smooth saturation functions. Based on the robust integral of the sign of the error (RISE) control methodology, the developed… (More)

—This paper examines saturated control of a general class of uncertain nonlinear Euler-Lagrange systems with time-delayed actuation and additive bounded disturbances. The bound on the control is known a priori and can be adjusted by changing the feedback gains. A Lyapunov-based stability analysis utilizing Lyapunov-Krasovskii functionals is provided to… (More)

This paper examines saturated control of a general class of uncertain nonlinear systems with time-delayed actuation and additive bounded disturbances. The bound on the control is known a priori and can be adjusted by changing the feedback gains. A Lyapunov-based stability analysis utilizing Lyapunov–Krasovskii (LK) functionals is provided to prove uniformly… (More)

—This study focuses on the development of a nonlin-ear control design for a fully-actuated autonomous underwater vehicle (AUV) using a continuous robust integral of the sign of the error control structure to compensate for system uncertainties and sufficiently smooth bounded exogenous disturbances. A Lya-punov stability analysis is included to prove… (More)