Locally optimal controllers and globally inverse optimal controllers

In this paper we consider the problem of global asymptotic stabilization with prescribed local behavior. We show that this problem can be formulated in terms of control Lyapunov functions. Moreover, we show that if the local control law has been synthesized employing a LQ approach, then the associated Lyapunov function can be seen as the value function of an optimal problem with some specific local properties. We illustrate these results on two specific classes of systems: backstepping and feedforward systems. Finally, we show how this framework can be employed when considering the orbital transfer problem.