Control-Lyapunov Universal Formulas for Restricted Inputs

We deal with the question of obtaining explicit feedback control laws that stabilize a nonlinear system, under the assumption that a \control Lyapunov function" is known. In previous work, the case of unbounded controls was considered. Here we obtain results for bounded and/or positive controls. We also provide some simple preliminary remarks regarding a set stability version of the problem and a version for systems subject to disturbances.

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