SIAM Journal on Control and Optimization, Vol.48, No.6, 4089-4118, 2010
SMALL GAIN THEOREMS FOR LARGE SCALE SYSTEMS AND CONSTRUCTION OF ISS LYAPUNOV FUNCTIONS
We consider interconnections of n nonlinear subsystems in the input-to-state stability (ISS) framework. For each subsystem an ISS Lyapunov function is given that treats the other subsystems as independent inputs. A gain matrix is used to encode the mutual dependencies of the systems in the network. Under a small gain assumption on the monotone operator induced by the gain matrix, a locally Lipschitz continuous ISS Lyapunov function is obtained constructively for the entire network by appropriately scaling the individual Lyapunov functions for the subsystems. The results are obtained in a general formulation of ISS; the cases of summation, maximization, and separation with respect to external gains are obtained as corollaries.
Keywords:nonlinear systems;input-to-state stability;interconnected systems;large scale systems;Lipschitz ISS Lyapunov function;small gain condition