15.1 Basic System Properties

This section provides a brief overview of two fundamental concepts in control theory: stability and controllability. Either can be considered as characterizing how a goal state is reached. Stability usually involves feedback and may only converge to the goal as time approaches infinity. Controllability assesses whether an action trajectory exists that leads exactly to a specified goal state. In both cases, there is no obstacle region in .

- 15.1.1 Stability
- Equilibrium points and Lyapunov stability
- Asymptotic stability
- Time-varying vector fields
- Domains of attraction
- Limit cycles

- 15.1.2 Lyapunov Functions

- 15.1.3 Controllability

Steven M LaValle 2012-04-20