{"id":"https://openalex.org/W2055597074","doi":"https://doi.org/10.1109/cdc.2008.4739133","title":"Control formula for nonlinear systems subject to convex input constraints using control Lyapunov functions","display_name":"Control formula for nonlinear systems subject to convex input constraints using control Lyapunov functions","publication_year":2008,"publication_date":"2008-01-01","ids":{"openalex":"https://openalex.org/W2055597074","doi":"https://doi.org/10.1109/cdc.2008.4739133","mag":"2055597074"},"language":"en","primary_location":{"id":"doi:10.1109/cdc.2008.4739133","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2008.4739133","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 47th IEEE Conference on Decision and Control","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5102916657","display_name":"Yasuyuki Satoh","orcid":"https://orcid.org/0000-0001-6080-8069"},"institutions":[{"id":"https://openalex.org/I75917431","display_name":"Nara Institute of Science and Technology","ror":"https://ror.org/05bhada84","country_code":"JP","type":"education","lineage":["https://openalex.org/I75917431"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Yasuyuki Satoh","raw_affiliation_strings":["The Graduate School of Information Science, Nara Institute of Science and Technology, Japan","Grad. School of Information Science, Nara Inst. of Science and Technology, Japan"],"affiliations":[{"raw_affiliation_string":"The Graduate School of Information Science, Nara Institute of Science and Technology, Japan","institution_ids":["https://openalex.org/I75917431"]},{"raw_affiliation_string":"Grad. School of Information Science, Nara Inst. of Science and Technology, Japan","institution_ids":["https://openalex.org/I75917431"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081409402","display_name":"Hisakazu Nakamura","orcid":"https://orcid.org/0000-0002-7683-8761"},"institutions":[{"id":"https://openalex.org/I75917431","display_name":"Nara Institute of Science and Technology","ror":"https://ror.org/05bhada84","country_code":"JP","type":"education","lineage":["https://openalex.org/I75917431"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hisakazu Nakamura","raw_affiliation_strings":["The Graduate School of Information Science, Nara Institute of Science and Technology, Japan","Grad. School of Information Science, Nara Inst. of Science and Technology, Japan"],"affiliations":[{"raw_affiliation_string":"The Graduate School of Information Science, Nara Institute of Science and Technology, Japan","institution_ids":["https://openalex.org/I75917431"]},{"raw_affiliation_string":"Grad. School of Information Science, Nara Inst. of Science and Technology, Japan","institution_ids":["https://openalex.org/I75917431"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113909847","display_name":"Nami Nakamura","orcid":null},"institutions":[{"id":"https://openalex.org/I75917431","display_name":"Nara Institute of Science and Technology","ror":"https://ror.org/05bhada84","country_code":"JP","type":"education","lineage":["https://openalex.org/I75917431"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Nami Nakamura","raw_affiliation_strings":["The Graduate School of Information Science, Nara Institute of Science and Technology, Japan","Grad. School of Information Science, Nara Inst. of Science and Technology, Japan"],"affiliations":[{"raw_affiliation_string":"The Graduate School of Information Science, Nara Institute of Science and Technology, Japan","institution_ids":["https://openalex.org/I75917431"]},{"raw_affiliation_string":"Grad. School of Information Science, Nara Inst. of Science and Technology, Japan","institution_ids":["https://openalex.org/I75917431"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045375460","display_name":"Hitoshi Katayama","orcid":"https://orcid.org/0009-0004-1419-1933"},"institutions":[{"id":"https://openalex.org/I1298590031","display_name":"Shizuoka University","ror":"https://ror.org/01w6wtk13","country_code":"JP","type":"education","lineage":["https://openalex.org/I1298590031"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hitoshi Katayama","raw_affiliation_strings":["The Department of Electrical and Electronic Engineering, Shizuoka University, Japan","Dept. of Electr. & Electron. Eng., Shizuoka Univ., Japan"],"affiliations":[{"raw_affiliation_string":"The Department of Electrical and Electronic Engineering, Shizuoka University, Japan","institution_ids":["https://openalex.org/I1298590031"]},{"raw_affiliation_string":"Dept. of Electr. & Electron. Eng., Shizuoka Univ., Japan","institution_ids":["https://openalex.org/I1298590031"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5109801509","display_name":"Hirokazu Nishitani","orcid":null},"institutions":[{"id":"https://openalex.org/I75917431","display_name":"Nara Institute of Science and Technology","ror":"https://ror.org/05bhada84","country_code":"JP","type":"education","lineage":["https://openalex.org/I75917431"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hirokazu Nishitani","raw_affiliation_strings":["The Graduate School of Information Science, Nara Institute of Science and Technology, Japan","Grad. School of Information Science, Nara Inst. of Science and Technology, Japan"],"affiliations":[{"raw_affiliation_string":"The Graduate School of Information Science, Nara Institute of Science and Technology, Japan","institution_ids":["https://openalex.org/I75917431"]},{"raw_affiliation_string":"Grad. School of Information Science, Nara Inst. of Science and Technology, Japan","institution_ids":["https://openalex.org/I75917431"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5102916657"],"corresponding_institution_ids":["https://openalex.org/I75917431"],"apc_list":null,"apc_paid":null,"fwci":1.645,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.86303291,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"10","issue":null,"first_page":"2512","last_page":"2519"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10046","display_name":"Stability and Control of Uncertain Systems","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10046","display_name":"Stability and Control of Uncertain Systems","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10545","display_name":"Optimization and Variational Analysis","score":0.9987999796867371,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10963","display_name":"Advanced Optimization Algorithms Research","score":0.9980000257492065,"subfield":{"id":"https://openalex.org/subfields/2612","display_name":"Numerical Analysis"},"field":{"id":"https://openalex.org/fields/26","display_name":"Mathematics"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/karush\u2013kuhn\u2013tucker-conditions","display_name":"Karush\u2013Kuhn\u2013Tucker conditions","score":0.8003637790679932},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7218247652053833},{"id":"https://openalex.org/keywords/convex-optimization","display_name":"Convex optimization","score":0.6618643999099731},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.6270446181297302},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5648508667945862},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5314756035804749},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.5188354253768921},{"id":"https://openalex.org/keywords/regular-polygon","display_name":"Regular polygon","score":0.49426937103271484},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4712522327899933},{"id":"https://openalex.org/keywords/stability-theory","display_name":"Stability theory","score":0.46942025423049927},{"id":"https://openalex.org/keywords/lyapunov-redesign","display_name":"Lyapunov redesign","score":0.4560108780860901},{"id":"https://openalex.org/keywords/nonlinear-control","display_name":"Nonlinear control","score":0.4453398883342743},{"id":"https://openalex.org/keywords/optimization-problem","display_name":"Optimization problem","score":0.43458572030067444},{"id":"https://openalex.org/keywords/domain","display_name":"Domain (mathematical analysis)","score":0.4180601239204407},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.34461531043052673},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.20186284184455872}],"concepts":[{"id":"https://openalex.org/C50454189","wikidata":"https://www.wikidata.org/wiki/Q2075125","display_name":"Karush\u2013Kuhn\u2013Tucker conditions","level":2,"score":0.8003637790679932},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7218247652053833},{"id":"https://openalex.org/C157972887","wikidata":"https://www.wikidata.org/wiki/Q463359","display_name":"Convex optimization","level":3,"score":0.6618643999099731},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.6270446181297302},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5648508667945862},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5314756035804749},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.5188354253768921},{"id":"https://openalex.org/C112680207","wikidata":"https://www.wikidata.org/wiki/Q714886","display_name":"Regular polygon","level":2,"score":0.49426937103271484},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4712522327899933},{"id":"https://openalex.org/C41949839","wikidata":"https://www.wikidata.org/wiki/Q1756677","display_name":"Stability theory","level":3,"score":0.46942025423049927},{"id":"https://openalex.org/C37935115","wikidata":"https://www.wikidata.org/wiki/Q6707085","display_name":"Lyapunov redesign","level":4,"score":0.4560108780860901},{"id":"https://openalex.org/C91581856","wikidata":"https://www.wikidata.org/wiki/Q2707001","display_name":"Nonlinear control","level":3,"score":0.4453398883342743},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.43458572030067444},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.4180601239204407},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.34461531043052673},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.20186284184455872},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cdc.2008.4739133","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2008.4739133","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 47th IEEE Conference on Decision and Control","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W83782864","https://openalex.org/W142303899","https://openalex.org/W1509803206","https://openalex.org/W1548148540","https://openalex.org/W2001904911","https://openalex.org/W2024503981","https://openalex.org/W2043835091","https://openalex.org/W2072571666","https://openalex.org/W2296319761","https://openalex.org/W2796836074","https://openalex.org/W4233796554","https://openalex.org/W4249392719","https://openalex.org/W4250589301","https://openalex.org/W4285719527","https://openalex.org/W4302155765","https://openalex.org/W6605800046","https://openalex.org/W6650855944","https://openalex.org/W6661367141","https://openalex.org/W6815019277"],"related_works":["https://openalex.org/W2210722882","https://openalex.org/W3195000156","https://openalex.org/W2112045043","https://openalex.org/W1563225472","https://openalex.org/W2087878139","https://openalex.org/W4385626915","https://openalex.org/W2892659929","https://openalex.org/W170012745","https://openalex.org/W4230398471","https://openalex.org/W2132654365"],"abstract_inverted_index":{"In":[0,22,83],"this":[1],"paper,":[2],"we":[3,26,49,61,87,104],"propose":[4],"a":[5,36,89],"two-step":[6],"controller":[7,93],"design":[8,88],"method":[9,111],"with":[10,18],"control":[11],"Lyapunov":[12],"functions":[13],"(CLFs)":[14],"for":[15,56,100],"nonlinear":[16,40],"systems":[17],"convex":[19,41],"input":[20,29,77,99],"constraints.":[21],"the":[23,32,45,51,57,63,66,72,75,79,84,96,101,106,109],"first":[24],"step,":[25,86],"derive":[27],"an":[28,113],"which":[30],"minimizes":[31],"time":[33],"derivative":[34],"of":[35,65,108],"local":[37],"CLF":[38],"via":[39],"optimization.":[42],"According":[43],"to":[44],"Karush-Kuhn-Tucker":[46],"condition":[47,55],"(KKT-condition),":[48],"clarify":[50],"necessary":[52],"and":[53,78],"sufficient":[54],"minimizing":[58,67,76,98],"input.":[59,68],"Then,":[60],"discuss":[62],"continuity":[64],"We":[69],"also":[70],"consider":[71],"relation":[73],"between":[74],"asymptotically":[80,91],"stabilizable":[81],"domain.":[82],"second":[85],"continuous":[90],"stabilizing":[92],"based":[94],"on":[95],"derived":[97],"system.":[102],"Finally,":[103],"confirm":[105],"effectiveness":[107],"proposed":[110],"through":[112],"example.":[114]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2014,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}