# A Survey on the Control Lyapunov Function and Control Barrier Function for Nonlinear-Affine Control Systems

> Research article (IEEE/CAA Journal of Automatica Sinica, 2023) · cited 114× · AI/ML

**Wikidata**: [openalex:W4322731219](https://www.wikidata.org/wiki/openalex:W4322731219)  
**Source**: https://4ort.xyz/entity/a-survey-on-the-control-lyapunov-function-and-control-barrier-function-for-nonlinear-affine-control-systems