Asymptotic Controllability And Exponential Stabilization Of Nonlinear Control Systems At Singular Points

We discuss the relation between exponential stabilization and asymptotic controllability of nonlinear control systems with constrained control range at singular points. Using a discounted optimal control approach we construct discrete feedback laws minimizing the Lyapunov exponent of the linearization. Thus we obtain an equivalence result between uniform exponential controllability and uniform exponential stabilizability by means of a discrete feedback law