Practical stabilization through real-time optimal control

  title={Practical stabilization through real-time optimal control},
  author={I. Michael Ross and Qi Gong and Fariba Fahroo and Wei Kang},
  journal={2006 American Control Conference},
  pages={6 pp.-}
Infinite-horizon, nonlinear, optimal, feedback control is one of the fundamental problems in control theory. In this paper we propose a solution for this problem based on recent progress in real-time optimal control. The basic idea is to perform feedback implementations through a domain transformation technique and a Radau based pseudospectral method. Two algorithms are considered: free sampling frequency and fixed sampling frequency. For both algorithms, a theoretical analysis for the… CONTINUE READING


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