Observers to the aid of "strictification" of Lyapunov functions (Long version)
Résumé
We present a procedure for modifying a weak Lyapunov function into a strict one. For this we augment the given function with an auxiliary function obtained as a Lyapunov function associated with the error dynamics given by an observer designed for the system with the derivative of as an output function.
Domaines
Automatique / Robotique| Origine | Fichiers produits par l'(les) auteur(s) |
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