Satisficing: A New Approach to Constructive Nonlinear Control

J.W. Curtis, R.W. Beard
2004 IEEE Transactions on Automatic Control  
The main contribution of this paper is a constructive parameterization of the class of almost smooth universal formulas which render a system asymptotically stable with respect to a known control Lyapunov function (CLF), and a constructive parameterization of a class of inverse optimal universal formulas having Kalman-like stability margins. The novelty of the parameterization is that it is given in terms of two function which are constrained to be locally Lipschitz and satisfy convex
more » ... s. The implication of this result is that the CLF/universal formula approach can be combined with a priori performance objectives to design high performance control strategies. Two examples illustrate the approach. Index Terms-Control Lyapunov functions (CLFs), inverse optimality, nonlinear control, stability margins.
doi:10.1109/tac.2004.831176 fatcat:ltp4wjpphbeovmx3d6zrdxibky