Extends Lin-Sontag universal formula with a state-dependent scaling term to unify stabilizing controllers for nonlinear systems under input constraints, including an optimization-based variant.
On the global CLF stabilization of systems with polytopic control value sets,
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Unifying Controller Design for Stabilizing Nonlinear Systems with Norm-Bounded Control Inputs
Extends Lin-Sontag universal formula with a state-dependent scaling term to unify stabilizing controllers for nonlinear systems under input constraints, including an optimization-based variant.