# Control Contraction Metrics, Robust Control and Observer Duality

arXiv: https://arxiv.org/abs/1403.5364 · HTML: https://mlsanity.com/paper/1403.5364/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 21 Mar 2014.

## Built on by (most cited first, 1 of 1)

- [Controller Design for Structured State-space Models via Contraction Theory](https://mlsanity.com/paper/2604.07069/) (2026)

## Abstract (arXiv)

This paper addresses the problems of stabilization, robust control, and observer design for nonlinear systems. We build upon recently a proposed method based on contraction theory and convex optimization, extending the class of systems to which it is applicable. We prove converse results for mechanical systems and feedback-linearizable systems. Next we consider robust control, and give a simple construction of a controller guaranteeing an L2-gain condition, and discuss connections to nonlinear H-infinity control. Finally, we discuss a "duality" result between nonlinear stabilization problems and observer construction, in the process constructing globally stable reduced-order observers for a class of nonlinear systems.