A Graphical Understanding of Lyapunov-based Nonlinear Control

@inproceedings{Beard2002AGU,
  title={A Graphical Understanding of Lyapunov-based Nonlinear Control},
  author={Jonathan C. Beard},
  year={2002}
}
The class of continuous nonlinear controllers that are based on control Lyapunov functions (clfs) can be understood graphically as continuous selections from a set-valued map that takes states and maps them to control-value sets. The notion of inverse-optimality and robustness to input disturbances can also be graphically understood by this set-valued map. The graphical approach introduced in this paper makes clear the relationship between Sontag's formula, Freeman and Kokotovic' min-norm… CONTINUE READING

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