Deterministic control of uncertain systems : a Lyapunov theory approach

This chapter considers the problem of obtaining memoryless stabilising feedback controllers for uncertain dynamical systems described by ordinary differential equations. Various classes of controllers are presented. The design of all these controllers is based on Lyapunov theory. The results to obtain tracking controllers for a general class of uncertain mechanical systems was utilised. These controllers are illustrated by application to a model of the Manutec r 3 robot which has an uncertain payload. Before proceeding with the problem, some basic notions and results for ordinary differential equations is introduced.