Abstract
We consider the problem of stabilizing an uncertain system when the norm of the control input is bounded by a prespecified constant. We treat continuous-time dynamical systems whose nominal part is linear and whose uncertain part is norm-bounded by a known affine function of the norm of the system state and the norm of the control input. Given a prespecified rate of convergence and a ball containing the origin of the state space, we present controllers which guarantee that, for all allowable uncertainties and nonlinearities, there is a region of attraction from which all solutions converge to the given ball with the prespecified convergence rate.
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This research was supported by the National Science Foundation under Grant MSS-90-57079.
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Corless, M., Leitmann, G. Bounded controllers for robust exponential convergence. J Optim Theory Appl 76, 1–12 (1993). https://doi.org/10.1007/BF00952819
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DOI: https://doi.org/10.1007/BF00952819