A relaxed characterization of ISS for periodic systems with multiple invariant sets

A necessary and sufficient criterion to establish input-to-state stability (ISS) of nonlinear dynamical systems, the dynamics of which are periodic with respect to certain state variables and which possess multiple invariant solutions (equilibria, limit cycles, etc.), is provided. Unlike standard Lyapunov approaches, the condition is relaxed and formulated via a sign-indefinite function with sign-definite derivative, and by taking the system's periodicity explicitly into account. The new result is established by using the framework of cell structure introduced in [24] and it complements the methods developed in [3], [4] for periodic systems. The efficiency of the proposed approach is illustrated via the global analysis of a nonlinear pendulum with constant persistent input