Global optimal control of quantized systems

We propose a set oriented approach to the global infinite horizon optimal control of nonlinear systems with quantized state measurement and quantized control values. The algorithm relies on a dynamic programming principle in which the quantization error is modelled as an opponent in a min-max dynamic game formulation. For the solution of the problem we propose a set oriented approach followed by a graph theoretic optimization algorithm. We also discuss a dynamic feedback extension and illustrate the performance of the proposed approach by experimental results.