In nonlinear control, the technique of Lyapunov redesign refers to the design where a stabilizing state feedback controller can be constructed with knowledge of the Lyapunov function . Consider the system where is the state vector and is the vector of inputs. The functions , , and are defined for , where is a domain that contains the origin. A nominal model for this system can be written as and the control law stabilizes the system. The design of is called Lyapunov redesign.