A Parametric Lyapunov Equation Approach to the Design of Low Gain Feedback

Low gain feedback has found several applications in constrained control systems, robust control and nonlinear control. Low gain feedback refers to a family of stabilizing state feedback gains that are parameterized in a scalar and go to zero as the scalar decreases to zero. Such feedback gains can be constructed either by an eigenstructure assignment algorithm or through the solution of a parametric algebraic Riccati equation (ARE). The eigenstructure assignment approach leads to feedback gains in the form of a matrix polynomial in the parameter, while the ARE approach requires the solution of an ARE for each value of the parameter. This paper proposes an alternative approach to low gain feedback design based on the solution of a parametric Lyapunov equation. Such an approach possesses the advantages of both the eigenstructure assignment approach and the ARE based approach. It also avoids the possible numerical stiffness in solving a parametric ARE and the structural decomposition of the open loop system that is required by the eigenstructure assignment approach.