Control design for nonlinear differential inclusions based on CLFs

Control design for nonlinear differential inclusions is dealt with in this paper. A concept of the control Lyapunov function for nonlinear differential inclusions is presented. Then, the sufficient condition is developed for globally asymptotical stabilization, and a control law is designed such that the closed-loop system is globally asymptotically stable based on control Lyapunov functions. Furthermore, a control law for globally finite time stabilization is also given. Finally, the effectiveness of the proposed method is illustrated by a simulating example.