Title :
Optimal control of feedback linearizable systems
Author :
Schoenwald, D.A. ; Özgüner, Ü
Author_Institution :
Martin Marietta Energy Systems, Inc., Oak Ridge Nat. Lab., TN, USA
Abstract :
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
Keywords :
feedback; linearisation techniques; nonlinear systems; optimal control; performance index; feedback linearizable systems; feedback linearization; linear optimal control problem; linear quadratic regulator problem; linearizing coordinates; nonquadratic performance index; performance index minimization; quadratic performance index; smooth state feedback; Costs; Laboratories; Nonlinear equations; Nonlinear systems; Optimal control; Performance analysis; Regulators; Riccati equations; State feedback; Vectors;
Conference_Titel :
Decision and Control, 1992., Proceedings of the 31st IEEE Conference on
Conference_Location :
Tucson, AZ
Print_ISBN :
0-7803-0872-7
DOI :
10.1109/CDC.1992.371440
