SIAM Journal on Control and Optimization, Vol.39, No.2, 478-491, 2000
A necessary and sufficient condition for bounded-input bounded-state stability of nonlinear systems
The main purpose of this work is to prove a converse theorem for bounded-input bounded-state stability of nonlinear systems in the framework of Liapunov's second method. The construction gives rise to an upper semicontinuous time-dependent Liapunov function. In certain cases, the monotonicity conditions can be checked by means of contingent directional derivatives.