A Canonical Structure for Constrained Optimal Control Problems

We consider a general class of optimal control Problems with regional pole and controller structure constraints. Our goal is to show that for a fairly general class of regional pole and controller structure constraints, such constrained optimal control problems can be reduced to a new one with a canonical structure. A three-step reduction procedure is proposed to achieve our goal, which essentially amounts to repeated augmentations of plant dynamics and repeated reductions of the controller. The reduced problem is one of the standard optimal static output feedback with a decentralised and repeated structure.