• Corpus ID: 244773070

Simultaneous Controller and Lyapunov Function Design for Constrained Nonlinear Systems

  title={Simultaneous Controller and Lyapunov Function Design for Constrained Nonlinear Systems},
  author={Reza Lavaei and Leila Jasmine Bridgeman},
This paper presents a method to stabilize state and input constrained nonlinear systems using an offline optimization on variable triangulations of the set of admissible states. For control-affine systems, by choosing a continuous piecewise affine (CPA) controller structure, the non-convex optimization is formulated as iterative semi-definite program (SDP), which can be solved efficiently using available software. The method has very general assumptions on the system’s dynamics and constraints… 

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