Dynamic Versus Static Weighting of Lyapunov Functions

Laurent Praly (1) , D. Carnevale (2) , Alessandro Astolfi (3)

1 CAS - Centre Automatique et Systèmes
2 Università degli Studi di Roma Tor Vergata [Roma] = University of Rome Tor Vergata
3 EEE Department

The relation between static and dynamic Lyapunov functions weighting is discussed. It is shown that, under some technical assumptions, stabilizability by means of static weighting implies stabilizability by means of dynamic weighting. The existence result is illustrated by means of an example which highlights that the design based on dynamic weighting requires less a-priori information on the system to be stabilized.

Mots clés: Lyapunov function; nonlinear

Domaines: Automatique / Robotique

Laurent Praly, D. Carnevale, Alessandro Astolfi. Dynamic Versus Static Weighting of Lyapunov Functions. IEEE Transactions on Automatic Control, 2013, 58 (6), pp.1557-1561. ⟨10.1109/TAC.2012.2229813⟩. ⟨hal-00829856⟩