A new nonlinear controller design method based on control Lyapunov function

A new formulation of nonlinear controller design method based on control Lyapunov function, called Generalized Pointwise Min-Norm (GPMN) Controller, is introduced in this paper by generalizing the pointwise min-norm (PMN) controller presented by Freeman etc. And combining the GPMN controller with design-via-linearization approach of nonlinear system, we can obtain a new nonlinear controller design method, which can enlarge the stability region of the design-via-linearization approach and reserve the local performance of it. And a respectively robust and constrained version of this kind of controller is also introduced by considering both model uncertainty and input constraints