A Lyapunov Characterization of Prescribed Performance Control Systems

Yutian Wang, Tengfei Liu, Hyungbo Shim, George A. Rovithakis, Zhong Ping Jiang

Research output: Contribution to journalArticlepeer-review


This paper contributes a Lyapunov formulation for prescribed performance controller designs. In particular, we first show that the closed-loop system of a typical class of prescribed performance control systems can be transformed into an interconnection of input-to-state practically stable (ISpS) subsystems characterized by ISpS-Lyapunov functions. Then, we take advantage of the gain-interconnections between the subsystems and construct a Lyapunov function for the closed-loop system. The proposed approach is validated through prescribed performance control for both SISO and MIMO plants, as well as systems not necessarily in the lower-triangular form and systems with dynamic uncertainty.

Original languageEnglish (US)
Pages (from-to)1-8
Number of pages8
JournalIEEE Transactions on Automatic Control
StateAccepted/In press - 2024


  • Closed loop systems
  • Control systems
  • Heuristic algorithms
  • input-to-state practical stability (ISpS)
  • Lyapunov function
  • Lyapunov methods
  • Perturbation methods
  • Prescribed performance control
  • Upper bound
  • Vectors

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering


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