考虑设计一个控制器同时镇定一组多输入非线性系统的问题.利用李雅普诺夫函数方法, 给出了时不变同时镇定状态反馈控制器存在地充分条件,然后给出构造同时镇定一组系统的连续控制器的统一公式. 该结果是对文献[1]中讨论的单输入系统的结论的推广.

This paper considers the problem of designing a controller that simultaneously stabilizes a
collection of multi-input nonlinear systems. Based on the technique of control Lyapunov function, a
sufficient condition for the existence of time-invariant simultaneously stabilizing state feedback controller
is obtained. A universal formula for constructing a continuous controller which simultaneously stabilizes
the systems is derived. The result extends the existing one in [1] for the single-input case.