Universal Singular Optimal Control: Affine Systems

In this study, the problem of finding an optimal controller for nonlinear systems with one input and a reference tracking signal is approached. With problem's formulation, any desired can be tracked instantly closed-loop without need integral terms. Presentation lies at heart control. This however, does not consider term, allowing stability to occur naturally. It has broad scope wide range applications, namely when dealing affine systems, which provide geometric control unification asymptotic in some cases. A common scenario that comes from involves minimization cost functionals. Issues like or even have always been main limitations. theorem allows solution problems no-integral terms, other words input/state constraints, providing controllers. DC motor pendulum upright position example application singular tested study. The results confirm both accuracy 95%. contributions study include no mixed initial/final conditions, guarantee, strong connection tools finally possibility generalize multiple inputs. As conclusion, general included methodology presented including constraints. Due lack solved closed form by using controller.