Design of suboptimal regulators for nonlinear systemsAn optimal feedback control law is preferred for the regulation of a deterministic nonlinear system. In this paper, a practical, iterative design method leading to a sequence of suboptimal control laws with successively improved performance is presented. The design method requires the determination of an upper bound to the performance of each successive control law. This is obtained by solving a partial differential inequality by means of a linear programming technique. Robustness properties and the application of the design method to the control of a robot manipulator arm are also presented.
Document ID
19860058138
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Balaram, J. (California Institute of Technology Jet Propulsion Laboratory, Pasadena, United States)
Saridis, G. N. (Rensselaer Polytechnic Institute, Troy, NY, United States)