On modification of a class of Lyapunov-based robust controllers subject to bounded input

In this paper, we consider a modification design of a class of Lyapunov-based robust controllers subject to bounded input. Our modification shows benefits in enhancing the input utilization and in retaining the stability and the robustness of the original control. An estimation of the stabilization region is proposed to explore region where the control is modified. It results in an estimate showing singularity. This estimate is utilized to determine the design parameter for the local, semiglobal and global stabilization.