Inversion in indirect optimal control of multivariable systems

Auteurs: François Chaplais, Nicolas Petit, ESAIM: COCV, Vol. 14, No 2, pp. 294 - 317, March, 2008 DOI: 10.1051/cocv:2007054
This paper presents the role of vector relative degree in the formulation of stationarity conditions of optimal control problems for affine control systems. After translating the dynamics into a normal form, we study the Hamiltonian structure. Stationarity conditions are rewritten with a limited number of variables. The approach is demonstrated on two and three inputs systems, then, we prove a formal result in the general case. A mechanical system example serves as illustration.
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author = {Nicolas Petit François Chaplais},
title = {Inversion in indirect optimal control of multivariable systems},
journal = {ESAIM: COCV},
volume = {14},
number = {2},
pages = {294 - 317},
year = {2008},