Abstract
We present a controller design methodology for uncertain systems which is based on the constructive use of Lyapunov stability theory. The uncertainties, which are deterministic, are characterized by certain structural conditions and known as well as unknown bounds. As a consequence of the Lyapunov approach, the methodology is not restricted to linear or time-invariant systems. The robustness of these controllers in the presence of singular perturbations is considered. The situation in which the full state of the system is not available for measurement is also considered as are other generalizations.
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