Observers to the aid of "strictification" of Lyapunov functions (Long version)

Laurent Praly (1)

1 CAS - Centre Automatique et Systèmes

We present a procedure for modifying a weak Lyapunov function V into a strict one. For this we augment the given function with an auxiliary function V a obtained as a Lyapunov function associated with the error dynamics given by an observer designed for the system with the derivative of V as an output function.

Mots clés: Strict Lyapunov function; observer; auxiliary function

Domaines: Automatique / Robotique

Laurent Praly. Observers to the aid of "strictification" of Lyapunov functions (Long version). 2019. ⟨hal-02277527v1⟩