4  Inverse Optimal Control:

A CLF Approach, Part I

In this chapter, we establish inverse optimal control and its solution by proposing a quadratic CLF in Section 4.1. The CLF depends on a fixed parameter in order to satisfy stability and optimality conditions. In Section 4.2, a robust inverse optimal control is proposed for a disturbed nonlinear system. The inverse optimal control is extended to achieve trajectory tracking in Section 4.3. Additionally, in Section 4.4 the inverse optimal control technique for positive systems based on the CLF approach is proposed. Simulation results illustrate the applicability of the proposed control schemes.


Due to favorable stability margins of optimal control systems, ...

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