1. G.A. Lafferriere and E.D. Sontag. Remarks on control Lyapunov functions for discontinuous stabilizing feedback. In Proc. IEEE Conf. Decision and Control, San Antonio, Dec. 1993, IEEE Publications, 1993, pages 306-308, 1993. [PDF] Keyword(s): feedback stabilization. Abstract:

   We present a formula for a stabilizing feedback law under the assumption that a piecewise smooth control-Lyapunov function exists. The resulting feedback is continuous at the origin and smooth everywhere except on a hypersurface of codimension 1, assuming that certain transversality conditions are imposed there.

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