SYNTHESIS OF OPTIMAL CONTROLLERS FOR NONLINEAR SYSTEMS USING SUPPLEMENTAL OBSERVERS.
The paper deals with an analytical procedure for the synthesis of optimal controllers for multivariable dynamical systems. The technique uses an iterative linearization scheme about sequentially located points. The resulting feedback gains for the controller satisfy the optimality condition over the entire operating range. A method is developed to incorporate an observer for a continuous estimate of states which may be inaccessible. It is shown that the use of an observer does not significantly alter the dynamic behavior of the system. An example illustrates the proposed technique.