Discrete-time nonlinear systems inverse optimal control: A control Lyapunov function approach

Abstract

This paper presents an inverse optimal control approach for exponential stabilization of discrete-time nonlinear systems, avoiding to solve the associated Hamilton-Jacobi-Bellman (HJB) equation, and minimizing a meaningful cost function. This stabilizing optimal controller is based on a discrete-time control Lyapunov function. The applicability of the proposed approach is illustrated via simulations by stabilization of an example.