IEEE Transactions on Automatic Control, Vol.56, No.5, 1136-U449, 2011
On Constructing Constrained Control Lyapunov Functions for Linear Systems
This works considers the problem of control of linear systems with input constraints. The notion of control Lyapunov functions (CLFs) is first generalized and relaxed to define a constrained control Lyapunov function (CCLF) and a constructive procedure for CCLF is subsequently presented.