Discontinuous exponential stabilization of dynamic chained form systems
Abstract
In this paper, the exponential stabilization of chained form system with inertia is addressed. A discontinuous static time invariant control law is proposed that achieves exponential stability in the Lyapunov's sense. Such a result was previously obtained only by means of time varying feedback or hybrid feedback endowed of memory capabilities. The total number of switching is less or equal to three with a subdivision of the state space into four subsets.
