A Unified Pseudospectral Framework for Nonlinear Controller and Observer Design

As a result of significant progress in pseudospectral methods for real-time dynamic optimization, it has become apparent in recent years that it is possible to present a unified framework for both controller and observer design. In this paper, we present such an approach for nonlinear systems. The method can be applied to a wide variety of nonlinear systems. The convergence of the proposed computational method is guaranteed under verifiable conditions. Several numerical examples are also presented to demonstrate the efficiency of the proposed computational framework.