... and the output of the system is always maintained within the prescribed constraint bounds. Design/methodology/approach First, to prevent constraint violations, a piecewise barrier Lyapunov function (BLF) is formulated, which grows to infinity as its arguments approach prescribed limits. By embedding the BLF...

... the aforementioned methods, barrier Lyapunov function (BLF) is based on the Lyapunov controller design method to avoid the specific form of need solution. BLF will become infinity when the variable approaches the constrained boundary. At the same time, BLF can also effectively control uncertainties in constrained...