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The problem of piecing together two control Lyapunov functions (CLFs) is addressed. The first CLF characterizes a local asymptotic controllability property toward the origin, whereas the second CLF is related to a global asymptotic controllability property with respect to a compact set. A sufficient condition is expressed to obtain an explicit solution. This sufficient condition is shown to be always...
We consider the problem of piecing together two control Lyapunov functions (CLFs). The first CLF characterizes a local controllability property toward the origin, whereas the second CLF satisfies a global controllability property with respect to a compact set. We give a sufficient condition to express explicitly a solution to this uniting problem. This sufficient condition is shown to be always satisfied...
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