Nonsmooth stabilization and its computational aspects

Pavel Osinenko, Patrick Schmidt, Stefan Streif

Research output: Contribution to journalConference articlepeer-review


This work has the goal of briefly surveying some key stabilization techniques for general nonlinear systems, for which, as it is well known, a smooth control Lyapunov function may fail to exist. A general overview of the situation with smooth and nonsmooth stabilization is provided, followed by a concise summary of basic tools and techniques, including general stabilization, sliding-mode control and nonsmooth backstepping. Their presentation is accompanied with examples. The survey is concluded with some remarks on computational aspects related to determination of sampling times and control actions.

Original languageEnglish
Pages (from-to)6370-6377
Number of pages8
Issue number2
Publication statusPublished - 2020
Externally publishedYes
Event21st IFAC World Congress 2020 - Berlin, Germany
Duration: 12 Jul 202017 Jul 2020


  • Control Lyapunov function
  • Nonsmooth analysis
  • Stabilization


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