Design and analysis of constrained nonlinear quadratic regulator.

  title={Design and analysis of constrained nonlinear quadratic regulator.},
  author={Baocang Ding and Shaoyuan Li},
  journal={ISA transactions},
  volume={42 2},
A suboptimal dual-mode solution to constrained nonlinear quadratic regulator (CNLQR) problem is studied. In a neighborhood of the origin, the controller is formulated as an LQR based on a model obtained by linearizing the original model at the origin. Outside this neighborhood, the control law is obtained by solving a finite horizon optimization problem (FHOP) with additional terminal inequality constraints. The terminal inequality constraints make the terminal states of FHOP be driven into the… CONTINUE READING

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