@inproceedings{91c90e8494134232ab5e88544d75afd4,
title = "An improved design procedure of Lyapunov feedback control",
abstract = "An improved procedure of Lyapunov feedback control is developed in this paper. The procedure includes two parts. First, a discontinuous controller is designed. The extended Lyapunov's stability theory is used for the stability analysis of the resulting non-smooth control system. Next, the discontinuous terms in the controller are replaced with continuous functions. This weakens the stability but avoids the chattering of the controller. The trade-off in the stability is analyzed using the concept of Lyapunov exponents. To the best of our knowledge, such an analysis has not been performed before. We demonstrate the effectiveness of the design procedure by stabilizing two-link base-excited inverted pendulum system around the upright position. We believe that our improved design procedure makes the Lyapunov feedback control more applicable.",
author = "Q. Wu and P. Sekhavat and S. Peles and Abo-Shanab, \{R. F.\} and N. Sepehri",
note = "Publisher Copyright: {\textcopyright} 2001 IEEE.; IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2001 ; Conference date: 29-07-2001 Through 01-08-2001",
year = "2001",
doi = "10.1109/CIRA.2001.1013249",
language = "English",
series = "Proceedings of IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "486--491",
editor = "Hong Zhang and Liu, \{Peter Xiaoping\}",
booktitle = "Proceedings - 2001 IEEE International Symposium on Computational Intelligence in Robotics and Automation",
address = "United States",
}