# A condition of CLF existence for affine systems

@article{Efimov2002ACO, title={A condition of CLF existence for affine systems}, author={Denis Efimov}, journal={Proceedings of the 41st IEEE Conference on Decision and Control, 2002.}, year={2002}, volume={2}, pages={1882-1887 vol.2} }

An equivalent condition of control Lyapunov function (CLF) existence is developed. The proposed condition summarizes the well known result of Sontag (1989) and passivity theorem of Byrnes, Isidory and Willems (1991). This condition also provides feedback equivalence to a passive system with not necessary well defined relative degree and normal form. An example of computer simulation completes the work.

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