On reachability sets for optimal feedback controllers: Monitoring the approach of a region of attraction


Sums-of-Squares optimization represents an important tool for the direct computation of a local Lyapunov function for a nonlinear dynamic system. Specifically, it can certify a sub-levelset of the cost-to-go from an optimal feedback controller like the Linear Quadratic Regulator (LQR), geometrically an ellipsoid in the state space, as Region of Attraction… (More)
DOI: 10.1109/ICRA.2016.7487278


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