Variational symmetry of discrete-time Hamiltonian systems and learning optimal control
نویسنده
چکیده
Variational symmetry is a property of Hamiltonian control systems. It is the basis for learning optimal control. In order to apply a continuous-time control strategy to a real plant, we need to discretize the data with respect to time. This paper investigates the variational symmetry for the discretized Hamiltonian systems. It is proved that the discretization based on the midpoint rule preserves the variational symmetry of the original system. Furthermore, a learning optimal control method based on the midpoint rule is proposed.
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