Optimal control of feedback linearizable systems

The authors consider a nonlinear system in which it is desired to minimize a quadratic performance index via smooth state feedback. Such a problem is very difficult to solve exactly via the Euler-Lagrange equations. But, via feedback linearization, the problem can be stated as a linear optimal contr...

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Bibliographic Details
Published inIEEE Conference on Decision and Control pp. 2033 - 2034 vol.2
Main Authors Schoenwald, D.A., Ozguner, U.
Format Conference Proceeding
LanguageEnglish
Published IEEE 1992
Subjects
Nonlinear equations
Nonlinear systems
Optimal control
Performance analysis
Regulators
State feedback
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ISBN9780780308725
0780308727
DOI10.1109/CDC.1992.371440

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Summary:The authors consider a nonlinear system in which it is desired to minimize a quadratic performance index via smooth state feedback. Such a problem is very difficult to solve exactly via the Euler-Lagrange equations. But, via feedback linearization, the problem can be stated as a linear optimal control problem subject to a nonquadratic performance index. This performance index in the linearizing coordinates is then approximated as a quadratic index, thus obtaining a linear quadratic regulator problem.< >
ISBN:9780780308725
0780308727
DOI:10.1109/CDC.1992.371440