Nonlinear Control Design Method Based On State-Dependent Riccati Equation(SDRE) Via Quasi-Newton Method

Abstract

State-Dependent Riccati Equation (SDRE) is a recently developed technique for control of nonlinear systems. SDRE allows us to apply linear control thoery to the design for nonlinear controllers. However, the reports on the experimental results of SDRE method are not so many, so far. It is due to the difficulty in solving Algebraic Riccati Equation in real time. This paper proposes a new method for solving SDRE in real time, which involves the use of Quasi-Newton method, and shows simulation and experimental results.