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...

An optimal control problem on a special nilpotent4-dimensional Lie group is discussed and some of its dynamical and geometrical properties are pointed out.

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 work investigates the problem of determining switching conditions for the production of the lantibiotic subtilin by Bacillus subtilis. These conditions are synthesized as the outcome of an optimal control problem based on a survival analysis interpretation. The problem is built upon the general modeling framework of stochastic hybrid systems, by translating the survival analysis into a pro...

This paper focuses on the problem of computing a control law which maximizes (in a sub-optimal sense) the delay of the closed-loop system for a class of linear systems with delayed input. The delay is assumed to be a continuous bounded time-varying function. The analysis is given using two diierent approaches: a Razumikhin based method and a frequency-ltering based method.

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...

In this paper, we consider a time-optimal control problem with uncertainties. Dynamics of controlled object is expressed by crisp linear system of differential equations with fuzzy initial and final states. We introduce a notion of fuzzy optimal time and reduce its calculation to two crisp optimal control problems. We examine the proposed approach on an example.