Related papers: Transverse Contraction Criteria for Existence, Sta…
In this paper, we derive differential conditions guaranteeing the orbital stability of nonlinear hybrid limit cycles. These conditions are represented as a series of pointwise linear matrix inequalities (LMI), enabling the search for…
We introduce the concept of a control contraction metric, extending contraction analysis to constructive nonlinear control design. We derive sufficient conditions for exponential stabilizability of all trajectories of a nonlinear control…
Contraction analysis uses a local criterion to prove the long-term behaviour of a dynamical system. A contraction metric is a Riemannian metric with respect to which the distance between adjacent solutions contracts. If adjacent solutions…
This paper presents an algorithm for computing inner estimates of the regions of attraction of limit cycles of a nonlinear hybrid system. The basic procedure is: (1) compute the dynamics of the system transverse to the limit cycle; (2) from…
Finding separable certificates of stability is important for tractability of analysis methods for large-scale networked systems. In this paper we consider the question of when a nonlinear system which is contracting, i.e. all solutions are…
Infinitesimal contraction analysis provides exponential convergence rates between arbitrary pairs of trajectories of a system by studying the system's linearization. An essentially equivalent viewpoint arises through stability analysis of a…
In this paper we introduce the concept of universal stabilizability: the condition that every solution of a nonlinear system can be globally stabilized. We give sufficient conditions in terms of the existence of a control contraction…
Stability analysis of discrete-time switched systems under minimum dwell-time is studied using a new type of LMI conditions. These conditions are convex in the matrices of the system and shown to be equivalent to the nonconvex conditions…
Contraction analysis is a stability theory for nonlinear systems where stability is defined incrementally between two arbitrary trajectories. It provides an alternative framework in which to study uncertain interconnections or systems with…
Contraction theory is an analytical tool to study differential dynamics of a non-autonomous (i.e., time-varying) nonlinear system under a contraction metric defined with a uniformly positive definite matrix, the existence of which results…
This note introduces a sufficient Linear Matrix Inequality (LMI) condition for the ultimate boundedness of a class of continuous-time dynamical systems with conic uncertain/nonlinear terms.
This work is dedicated to the stability analysis of time-delay systems with a single constant delay using the Lyapunov-Krasovskii theorem. This approach has been widely used in the literature and numerous sufficient conditions of stability…
This paper provides a necessary and sufficient condition for guaranteeing exponential stability of the linear difference equation $x(t)=Ax(t-a)+Bx(t-b)$ where $a>0,b>0$ are constants and $A,B$ are $n\times n$ square matrices, in terms of a…
This paper considers the robustness of an uncertain nonlinear system along a finite-horizon trajectory. The uncertain system is modeled as a connection of a nonlinear system and a perturbation. The analysis relies on three ingredients.…
This paper is concerned with the absolute stability analysis of discrete-time feedback systems with slope-restricted nonlinearities. By employing static O'Shea-Zames-Falb multipliers in the framework of integral quadratic constraints, we…
Many physical systems are inherently time-varying in nature. When these systems are linearized around a trajectory, generally, the resulting system is Linear Time-Varying (LTV). LTV systems describe an important class of linear systems and…
We provide an amendment to the first theorem of "Control Contraction Metrics: Convex and Intrinsic Criteria for Nonlinear Feedback Design" by Manchester & Slotine in the form of an additional technical condition required to show…
Converse optimality theory addresses an optimal control problem conversely where the system is unknown and the value function is chosen. Previous work treated this problem both in continuous and discrete time and non-extensively considered…
We provide convex necessary and sufficient conditions for the robust stability of linear positively dominated systems. In particular we show that the structured singular value is always equal to its convex upper bound for nonnegative…
Many nonlinear dynamical systems can be written as Lure systems, which are described by a linear time-invariant system interconnected with a diagonal static sector-bounded nonlinearity. Sufficient conditions are derived for the global…