Solutions of nonlinear optimal regulator and \(H_ \infty\) control problems via Galerkin methods (Q2564017)

This paper proposes a general framework for the numerical solution of nonlinear optimal control arising in optimal regulators and some related \(H_\infty\) problems. This approach is done using some generalizations of Galerkin methods, based on dense functional approximations. It leads to approximations of optimal control laws in closed-loop form. From the viewpoint of stability and robustness, these approximations are stabilizing under mild sufficient conditions. The optimal feedback approximations appear to be robust in the sense that they ensure local stability of the closed-loop system and they can be viewed as the solutions of some `perturbed' optimal control problems, closely related to the original ones. Some examples are provided that demonstrate the effectiveness of this approach.