| Title | Tools for semiglobal practical stability analysis of cascaded systems and applications |
| Publication Type | Book Chapter |
| Year of Publication | 2006 |
| Authors | Chaillet, A |
| Series Title | International Scientific and Technical Encyclopedia |
| Chapter | in Proceedings of the CTS–HYCON Workshop |
| City | Paris, France |
| Keywords | Robotics |
| Abstract | We present sufficient conditions for semiglobal and/or practical stability in terms of Lyapunov-like functions. Based on this, we provide a result for the stability analysis of cascaded systems. A converse result is also presented for a particular class of uniformly semiglobally practically asymptotically stable systems. We briefly show the usefulness of these results through various applications in the control of mechanical systems. |