Optimal Control for Certain Nonlinear Systems in which Control Variables Appear Linearly

Optimal Control of Nonlinear Multivariable Systems

This paper concerns a study on the optimal control for nonlinear systems. An appropriate alternative in order to alleviate the nonlinearity of a system is the exact linearization approach. In this fashion, the nonlinear system has been linearized using input-output feedback linearization (IOFL). Then, by utilizing the well developed optimal control theory of linear systems, the compensated ...

optimal control of nonlinear multivariable systems

this paper concerns a study on the optimal control for nonlinear systems. an appropriate alternative in order to alleviate the nonlinearity of a system is the exact linearization approach. in this fashion, the nonlinear system has been linearized using input-output feedback linearization (iofl). then, by utilizing the well developed optimal control theory of linear systems, the compensated nonl...

Optimal Control for Nonlinear Systems

Linearly Solvable Optimal Control

We summarize the recently-developed framework of linearly-solvable stochastic optimal control. Using an exponential transformation, the (Hamilton-Jacobi) Bellman equation for such problems can bemade linear, giving rise to efficient numericalmethods. Extensions to game theory are also possible and lead to linear Isaacs equations. The key restriction that makes a stochastic optimal control probl...

Nonlinear Adaptive Tracking-Control Synthesis for General Linearly Parametrized Systems

where y, x, u denote output, state and control variables respectively, α and β are smooth vector fields on n R and R R h n → : a smooth function. It is assumed here also that the functions α and β are unknown or may be estimated with a considerable inaccuracy. Considering the system (1) it is possible (under certain conditions (Fabri & Kadrikamanathan, 2001; Sastry & Isidori, 1989)) to obtain a...