Adaptive Output Optimal Control Algorithm for Unknown System Dyanamics Based on Policy Iteration

Abstract

In this paper, we propose an algorithm of adaptive control scheme, for systems which is unknown, affine and only output is measurable, which converges to the approximate optimal state feedback control solution. In this algorithm, we combine two method. For the first method, we use nonlinear observer which do not use system dynamics. Secondly, we extend adaptive optimal control method which is called Policy Iteration.