A family of piecewise affine control Lyapunov functions

This paper presents a novel method to construct a family of piecewise affine control Lyapunov functions. Unlike most of existing methods which require the contractivity of their domain of definition, the proposed control Lyapunov functions are defined over a so-called N-step controllable set, which is known not to be contractive. Accordingly, a robust control design procedure is presented which only requires solving a linear programming problem at each sampling time. The construction is finally illustrated via a numerical example.