Adaptive inverse optimal control for a class of nonlinear system

This paper introduces the basic idea of adaptive inverse optimal control, gives the solvable theorem of inverse optimal gain assignment problem, design inverse optimal controller using Backstepping algorithm and an adaptive update law for strict-feedback nonlinear continuous system with unknown time-varing bounded disturbance and constant unknown parameters, which is nonlinear, continuous and easier to realize. The adaptive control law and the parameter update laws can be obtained at the same time by this design scheme. The results designed show simultaneously that inverse optimal systems yield stability margins, namely, achieving locally robustness, which is a nonlinear analog of Kalman´s margins for the linear quadratic regulator.