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.

The ability to asymptotically stabilize control systems through the use of continuous feedbacks is an important topic theory and applications. In this paper, we provide a complete characterization feedback stabilizability using new approach that does not involve Lyapunov functions. To do so, first develop slight generalization stabilization composition operators characterize in expanded setting...

In this paper we discuss di erent control design methods for nonlinear control systems. We focus our attention on passivity-based control and the feedback linearization approach for solving set-point and tracking control problems. We also consider the case of model and parameter uncertainties. We concentrate on Euler-Lagrange systems which is a fairly wide and illustrative class of nonlinear sy...