Title

Global asymptotic controllability implies input-to-state stabilization

Document Type

Article

Publication Date

12-22-2004

Abstract

The main problem addressed in this paper is the design of feedbacks for globally asymptotically controllable (GAC) control affine systems that render the closed-loop systems input-to-state stable (ISS) with respect to actuator errors. Extensions for fully nonlinear GAC systems with actuator errors are also discussed. Our controllers have the property that they tolerate small observation noise as well.

Publication Source (Journal or Book title)

SIAM Journal on Control and Optimization

First Page

2221

Last Page

2238

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