INVERSE OPTIMAL CONTROL OF SWITCHED DISCRETE NONLINEAR SYSTEMS USING CONTROL LYAPUNOV FUNCTION WITH ADJUSTED PARAMETER AND DISCRETE PARTICLE SWARM ALGORITHM

摘要

In this paper, the optimal control problem for switched discrete nonlinear systems, using Control Lyapunov Function with adjusted parameter, is studied to minimize the performance criterion. Two main stages are proposed, the first one is to find the optimal control of discrete systems using Control Lyapunov Function (CLF) and a speed gradient algorithm; whereas the second stage consists in applying the Particle swarm approach in order to come up with the optimal switching instants between the sub-systems.