Optimal robust tracking by state feedback: infinite horizon

Abstract

The existence and implementation of optimal robust state-feedback controllers that achieve optimal tracking over the infinite horizon is considered. The objective is to minimise over all times the deviation of a nonlinear system from a specified target state. It is shown that optimal robust state-feedback controllers that achieve this objective exist for a broad class of nonlinear input-affine systems. It is also shown that optimal performance can be approximated by state-feedback controllers that are relatively easy to design and implement.

Keywords:

• Optimal control
• tracking
• nonlinear control
• infinite horizon
• optimal feedback

Disclosure statement

No potential conflict of interest was reported by the author(s).