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Extension of Pozharitsky theorem for partial stabilization of a system with several first integrals

Publiceringsår: 2002
Språk: Engelska
Sidor: 3512-3517
Publikation/Tidskrift/Serie: Proceedings of the 41st IEEE Conference on Decision and Control, 2002
Volym: 3
Dokumenttyp: Konferensbidrag
Förlag: IEEE


The paper is devoted to an extension of one particular fact withintheory of partial stability, the so-called Pozharitsky Theorem,to the case of partial stabilization of nonlinear controlled system.It is shown that under appropriate assumptions partialstabilization of the system based on usage some Lyapunov functionconstructed from first integrals of the unforced system, impliesthat the Lyapunov function of a simplified form also leads toa controller that partially stabilizes the system. The theoreticalresults are illustrated by the problem of partial stabilization ofthe downward equilibrium of the Inertia Wheel Pendulum.



  • Technology and Engineering
  • nonlinear controlled system
  • partial stabilization
  • Lyapunov function
  • downward equilibrium
  • Pozharitsky theorem
  • inertia wheel pendulum


  • ISSN: 0191-2216
  • ISBN: 0-7803-7516-5

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