ABSTRACT
Contributions to the development of the Lyapunov designmethodology for systems with no uncertainties include [1,9,10,13,18]. A good introduction to Lyapunov redesign can be found [12]. Corless [3] has recently surveyed various methods for the design of robust controllers for nonlinear systems using quadratic Lyapunov functions. Details of the recursive design presented in Section 49.4 can be found in [6, 14,16]. The state-space techniques discussed in this chapter can be combinedwith nonlinear input/output techniques to obtain more advanced designs (see Chapter 44). Finally, when the uncertain nonlinearities are given by constant parameters multiplying known nonlinearities, adaptive control techniques apply (see Chapter 53).
