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This paper considers the optimal disturbance attenuation and rejection problem for MIMO systems affected by external sinusoidal disturbances based on stability degree constraint. The objective is to find an LQR optimal controller, by which the cost function minimum and the state with the optimal having a higher mean-square convergence rate can be obtained. A LQR control law is derive from a Riccati...
This paper proposes a method to suboptimally tune the control parameters in a conventional Lyapunov-based method which shares the same concept of control design with sliding mode approach as applied to the robot manipulators. Optimal tuning of such parameters involves handling of nonlinearities in system dynamics and cost functions, which makes the problem challenging. We propose a step-by-step numerical...
A nonaffine discrete-time system represented by the nonlinear autoregressive moving average with eXogenous input (NARMAX) representation with unknown nonlinear system dynamics is considered. An equivalent affinelike representation in terms of the tracking error dynamics is first obtained from the original nonaffine nonlinear discrete-time system so that reinforcement-learning-based near-optimal neural...
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