Finite-time Attractive Ellipsoid Method using Implicit Lyapunov Functions

A finite-time version, based on Implicit Lyapunov Functions (ILF), for the Attractive Ellipsoid Method (AEM) is developed. Based on this, a robust control scheme is presented to ensure finite-time convergence of the solutions of a chain of integrators with bounded output perturbations to a minimal ellipsoidal set. The control parameters are obtained by solving a minimization problem of the “size” of the ellipsoid subject to a set of Linear Matrix Inequalities (LMI´s) constraints, and by applying the implicit function theorem. A numerical example is presented to support the implementability of these theoretical results.