A hybrid control design for stabilisation of nonlinear systems from the null controllable region*

The present paper addresses the problem of designing a controller to enable stabilisation from the entire null controllable region (NCR) – the set of states from where stabilisation is possible). A recently developed approach for the numerical construction of the NCR is utilised, and first, the validity of the use of the NCR as a constrained control Lyapunov function (CCLF) is established. The analysis reveals the ability of a CCLF-based …