Nonlinear controllers for nonlinear systems with input nonlinearities

In this paper we develop an optimality-based nonlinear control framework fo r nonlinear systems with time-invariant sector-bounded memoryless input non linearities. Specifically, using an optimal nonlinear control framework we develop a family of globally stabilizing controllers parameterized by the c ost functional that is minimized. Furthermore, it is shown that the control Lyapunov function guaranteeing closed-loop stability over a prescribed set of input nonlinearities is a solution to the steady-state Hamilton-Jacobi- Bellman equation for the controlled system and thus guarantees stability an d performance. (C) 1999 The Franklin Institute. Published by Elsevier Scien ce Ltd. All rights reserved.