Static6 trict& ontrol Lyapunov) unction' esign for the PVTOL6 ystem via Minimum Projection Method

Dynamic extension" is commonly used for sta- bilization of planar vertical take off and landing (PVTOL) system. Most of controllers designed by this method are based on "dynamic" control Lyapunov functions. We propose a C ∞ differentiable "static" strict control Lya- punov function (CLF) design method for the PVTOL system by dynamic extension and minimum projection method.