| Submitted to Systems and Control Letters 1 Universal construction of feedback laws achieving ISS and integral-ISS disturbance attenuation (2007) | |||||||||||||||
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| We study nonlinear systems with both control and disturbance inputs. The main problem addressed in the paper is design of state feedback control laws that render the closed-loop system integral-inputto-state stable (iISS) with respect to the disturbances. We introduce an appropriate concept of control Lyapunov function (iISS-CLF), whose existence leads to an explicit construction of such a control law. The same method applies to the problem of input-to-state stabilization. Converse results and techniques for generating iISS-CLFs are also discussed. | |||||||||||||||
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