Nonsmooth stabilization and its computational aspects

Abstract

This work has the goal of briefly surveying some key stabilization techniques for general nonlinear systems, for which, as it is well known, a smooth control Lyapunov function may fail to exist. A general overview of the situation with smooth and nonsmooth stabilization is provided, followed by a concise summary of basic tools and techniques, including general stabilization, sliding-mode control and nonsmooth backstepping. Their presentation is accompanied with examples. The survey is concluded with some remarks on computational aspects related to determination of sampling times and control actions.