An optimization framework synthesizes explicit PWA feedback controllers for nonlinear discrete-time systems by enforcing a configuration-constrained PWA approximation of the min-max HJB value function to act as a generalized control Lyapunov function, with configurable complexity and guarantees, as
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Feedback Synthesis for Nonlinear Systems Via Convex Control Lyapunov Functions
An optimization framework synthesizes explicit PWA feedback controllers for nonlinear discrete-time systems by enforcing a configuration-constrained PWA approximation of the min-max HJB value function to act as a generalized control Lyapunov function, with configurable complexity and guarantees, as