This paper analytically solves the Riccati equation of discrete optimal control with two targets and one tool. This is accomplished by reducing the problem to a nonlinear univariate dynamic equation; this can be solved by a suitable transformation of variable. Beyond its direct application to two-target economic problems, the present approach may provide insight toward the eventual solution of ...

The purpose of this paper is to relax the terminal conditions typically used to ensure stability in model predictive control, thereby enlarging the domain of attraction for a given prediction horizon. Using some recent results, we present novel conditions that employ, as the terminal cost, the finite-horizon cost resulting from a nonlinear controller u = −sat(Kx) and, as the terminal constraint...

The optimal control problem for the nonlinear elliptic equation is considered. The corresponding control-state mapping is not Gataux differentiable. Necessary conditions of optimality are obtained by means of the extended derivatives theory.

This paper presents a new approach to solve a class of nonlinear optimal control problems which have a quadratic performance index. In this approach, the nonlinear two-point boundary value problem (TPBVP), derived from the Pontryagin’s maximum principle, is transformed into a sequence of linear time-invariant TPBVP’s. Solving the proposed linear TPBVP sequence in a recursive manner leads to the...

An adaptive nonlinear control law that incorporates the manipulator dynamics as well as dynamics of the actuator is developed in this article. The technique is based on nonlinear feedback linearization. The electrical parameters of the actuator are considered to be of uncertain values. In contrast to known methods the robot position is the only measurement available, a nonlinear observer is des...

This work deals with a sliding mode control scheme for discrete time nonlinear systems. The control law synthesis problem is subdivided into a finite number of subproblems of lower complexity, which can be solved independently. The sliding mode controller is designed to force the system to track a desired reference and to eliminate unwanted disturbances, compensating at the same time matched an...