Nonlinear Controllability and Observability

Nonlinear Controllability and Observability

1		Title

2		Outline

3		Preliminaries: ISS

4		Changing Supply Functions

5		Cascading ISS Systems

6		Problem of Disturbance Attenuation

7		Refinement to Zero Dynamics

8		Linear System Example

9		Nonlinear Systems

10		Nonlinear Systems (cont'd)

11		Rescaling a Control Lyapunov Function

12		Rescaling a Control Lyapunov Function