Suboptimal local feedback control for a class of constrained discrete time nonlinear control problems (Q1962920)

Suboptimal control of constrained nonlinear discrete-time systems is considered. A local computational scheme, with resulting possible savings in computational effort and memory requirements, is presented. This method is for fixed final time problems and approximates locally a suboptimal state feedback controller (with better disturbance reduction capability) in the neighborhood of some nominal optimal trajectory. An illustrative numerical example is included where the robustness of the scheme in the presence of external disturbances is also tested.