Global asymptotic controllability implies input-to-state stabilization

Ludovic Rifford (1) , E.D. Sontag (2) , Michael Malisoff (3)

1 JAD - Laboratoire Jean Alexandre Dieudonné
2 RU - Rutgers, The State University of New Jersey [New Brunswick]
3 Department of Mathematics

The main problem addressed in this paper is the design of feedbacks for globally asymptotically controllable (GAC) control affine systems that render the closed-loop systems input-to-state stable (ISS) with respect to actuator errors. Extensions for fully nonlinear GAC systems with actuator errors are also discussed. Our controllers have the property that they tolerate small observation noise as well.

Domaines: Optimisation et contrôle [math.OC]

Ludovic Rifford, E.D. Sontag, Michael Malisoff. Global asymptotic controllability implies input-to-state stabilization. SIAM Journal on Control and Optimization, 2004, 42 (6), pp.2221-2238. ⟨hal-00769004⟩