Open-loop control design for contraction in affine nonlinear systems

Mohamed Yassine Arkhis; Denis Efimov

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arXiv · 2503.22210

Open-loop control design for contraction in affine nonlinear systems

Mohamed Yassine Arkhis·Denis Efimov

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Abstract

In this paper, first, it is shown that if a nonlinear time-varying system is contractive, then it is incrementally exponentially stable. Second, leveraging this result, under mild restrictions, an approach is proposed to design feedforward inputs for affine in control systems providing contraction/incremental exponential stability. Unlike standard stability notions, which have well-established control design techniques, this note can be considered among the first ones to provide such a tool for a kind of incremental stability. The theoretical findings are illustrated by examples.

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Mohamed Yassine Arkhis, Denis Efimov. 2025-03-28. Open-loop control design for contraction in affine nonlinear systems. https://arxiv.org/abs/2503.22210

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