Stabilization of nonlinear systems by use of semidefinite Lyapunov functions Original Research Article

We give a sufficient condition for smooth stabilization of nonlinear control systems. This condition generalizes the well-known Jurdjevic-Quinn results in the sense that it uses nonnegative semidefinite Lyapunov functions rather than positive definite ones, and that it applies to nonaffine control systems. Stabilizing feedback is explicitly computed.