入力制約付き非線形システムに対する逆最適制御

抄録

Sontag's controller without input constraint is an inverse optimal regulator and holds the robustness for disturbances. When there are input constraints, however, any inverse optimal problems have not been clarified and any controllers in previous works do not guarantee the robustness. In this paper, we propose inverse optimal controllers for a nonlinear system with an input constraint under the assumption that a local control Lyapunov function is given. First, we construct two inverse optimal regulators. Then, we design robust controllers without reduction of a domain of attraction. Moreover, we illustrate the robustness of the proposed controller by computer simulation.