Lars Grüne, Fabian Wirth
Computing control Lyapunov functions via a Zubov type algorithm
Preprint series: Proc. CDC 2000, Sydney, Australia
93B52 Feedback control
93C55 Discrete-time
Under the assumption of local asymptotic nullcontrollability we define the domain of asymptotic
nullcontrollability. On this set we define a control Lyapunov function via an optimal control problem. It is
shown that this function can be characterized as the unique viscosity solution of a partial differential
equation which can be interpreted as a generalization of Zubov's equation.

Keywords: asymptotic controllability, control Lyapunov functions, optimal control, viscosity solutions