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.