2  Mathematical Preliminaries

This chapter briefly describes useful results on optimal control theory, Lyapunov stability, passivity and neural identification, required in future chapters, for the inverse optimal control solution. Section 2.1 gives a review of optimal control, prior to the introduction of the inverse optimal control. Section 2.2 presents general stability analysis, and robust stability results are included in Section 2.3 for disturbed nonlinear systems. Section 2.4 establishes concepts related to passivity theory. Finally, Section 2.5 presents a neural scheme in order to identify uncertain nonlinear systems.

2.1  OPTIMAL CONTROL

This section briefly discusses the optimal control methodology and its limitations.

Consider the ...

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