Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Simultaneous Controller and Lyapunov Function Design for Constrained
  Nonlinear Systems   This paper presents a method to stabilize state and input constrained
nonlinear systems using an offline optimization on variable triangulations of
the set of admissible states. For control-affine systems, by choosing a
continuous piecewise affine (CPA) controller structure, the non-convex
optimization is formulated as iterative semi-definite programming (SDP), which
can be solved efficiently using available software. The method has very general
assumptions on the system's dynamics and constraints. Unlike similar existing
methods, it avoids finding terminal invariant sets, solving non-convex
optimizations, and does not rely on knowing a control Lyapunov function (CLF),
as it finds a CPA Lyapunov function explicitly. The method enforces a desired
upper-bound on the decay rate of the state norm and finds the exact region of
attraction. Thus, it can be also viewed as a systematic approach for finding
Lipschitz CLFs in state and input constrained control-affine systems. Using the
CLF, a minimum norm controller is also formulated by quadratic programming for
online application.

20
The categories of this paper are: acc-phys
4
The categories of this paper are: cond-mat
22
The categories of this paper are: chao-dyn
3
The categories of this paper are: physics
14
The categories of this paper are: math-ph
33
The categories of this paper are: plasm-ph
15
The categories of this paper are: nucl-ex
30
The categories of this paper are: q-alg
26
The categories of this paper are: bayes-an
13
The categories of this paper are: quant-ph
8
The categories of this paper are: hep-ex
2
The categories of this paper are: math
34
The categories of this paper are: chem-ph
11
The categories of this paper are: hep-lat
31
The categories of this paper are: ao-sci
28
The categories of this paper are: alg-geom