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Section: Application Domains

Stability and Feedback Control

Lyapunov stability of nonsmooth, complementarity dynamical systems is challenging, because of possible state jumps, and varying system's dimension (the system may live on lower-dimensional subspaces), which may induce instability if not incorporated in the analysis [8], [9], [7]. On the other hand, the nonsmoothness (or the set-valuedness) may be introduced through the feedback control, like for instance the well-known sliding-mode controllers or state observers. The time-discretisation of set-valued controllers is in turn of big interest [3]. The techniques we study originate from numerical analysis in Contact Mechanics (the Moreau-Jean time-stepping algorithm) and are shown to be very efficient for chattering suppression and Lyapunov finite-time stability.