Optimal tracking for a class of nonlinear systems based on the state-dependent Riccati equation

In this paper an infinite-horizon optimal controller, based on the state-dependent Riccati equation approach to solve the tracking for nonlinear systems, is presented. The synthesized control law comes from solving the Hamilton-Jacobi-Bellman equation for state-dependent coefficient factorized nonlinear systems. The proposed controller minimizes a quadratic performance index. In order to illustrate the tracking to a desired reference, the proposed optimal control scheme is applied via simulation to the Van der Pol Oscillator.