Robust inverse optimal control for discrete-time nonlinear system stabilization

摘要

This paper presents an inverse optimal control approach in order to achieve stabilization of discrete-time nonlinear systems, avoiding the need to solve the associated Hamilton-Jacobi-Bellman equation, and minimizing a cost functional. Then, the proposed approach is extended to discrete-time disturbed nonlinear systems. The synthesized stabilizing optimal controller is based on a discrete-time control Lyapunov function. The applicability of the proposed approach is illustrated via simulations.