Computing Nonlinear Optimal Controls from Existing Stabilizing Controls
نویسندگان
چکیده
In this paper we introduce a practical algorithm for computing an optimal feedback control for nonlinear systems. The algorithm that we present computes a sequence of suboptimal controls that converge to the optimal. We demonstrate the features of the algorithm by three simple examples including the optimal nonlinear feedback control of an inverted pendulum.
منابع مشابه
Improving the Performance of Stabilizing Controls for Nonlinear Systems
There are a variety of tools for computing stabilizing feedback control laws for nonlinear systems. The diiculty is that these tools usually do not take into account the performance of the control and therefore, systematic improvement of an arbitrary stabilizing control law is extremely diicult and often impossible. The objective of this paper is to present a design algorithm that addresses thi...
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