in this paper, a new analytical method to find a near-optimal high gain controller for the non-minimum phase affine nonlinear systems is introduced. this controller is derived based on the closed form solution of the hamilton-jacobi-bellman (hjb) equation associated with the cheap control problem. this methodology employs an algebraic equation with parametric coefficients for the systems with s...

A quadratic cheap control of linear systems with multiple state delays is considered. This optimal control problem is transformed to an optimal control problem of singularly perturbed systems. A composite suboptimal control of the latter is designed based on its asymptotic decomposition into two much simpler parameter-free subproblems, the slow and fast ones. Using this composite control, a sub...