Abstract
Stability results are given for a class of feedback systems arising from the regulation of time-varying discrete-time systems using optimal infinite-horizon and moving-horizon feedback laws. The class is characterized by joint constraints on the state and the control, a general nonlinear cost function and nonlinear equations of motion possessing two special properties. It is shown that weak conditions on the cost function and the constraints are sufficient to guarantee uniform asymptotic stability of both the optimal infinite-horizon and moving-horizon feedback systems. The infinite-horizon cost associated with the moving-horizon feedback law approaches the optimal infinite-horizon cost as the moving horizon is extended.
Similar content being viewed by others
References
Bertsekas, D. P.,Dynamic Programming and Stochastic Optimal Control, Academic Press, New York, New York, 1976.
Kwakernaak, H., andSivan, R.,Linear Optimal Control Systems, Wiley-Interscience, New York, New York, 1972.
Kleinman, D. L.,An Easy Way to Stabilize a Linear Constant System, IEEE Transactions on Automatic Control, Vol. AC-15, p. 692, 1970.
Thomas, Y., andBarraud, A.,Commande Optimale à Horizon Fuyant, Revue RAIRO, Vol. J1, pp. 126–140, 1974.
Thomas, Y. A.,Linear Quadratic Optimal Estimation and Control with Receding Horizon, Electronics Letters, Vol. 11, pp. 19–21, 1975.
Kwon, W. H., andPearson, A. E.,A Modified Quadratic Cost Problem and Feedback Stabilization of a Linear System, IEEE Transactions on Automatic Control, Vol. AC-22, pp. 838–842, 1977.
Kwon, W. H., andPearson, A. E.,On Feedback Stabilization of Time-Varying Discrete Linear Systems, IEEE Transactions on Automatic Control, Vol. AC-23, pp. 479–481, 1978.
Kwon, W. H., Bruckstein, A. M., andKailath, T.,Stabilizing State-Feedback Design via the Moving Horizon Method, International Journal of Control, Vol. 37, pp. 631–643, 1983.
Keerthi, S. S., andGilbert, E. G.,Moving-Horizon Approximations for a General Class of Optimal Nonlinear Infinite-Horizon Discrete-Time Systems, Conference on Information Sciences and Systems, Princeton, New Jersey, 1986.
Keerthi, S. S.,Optimal Feedback Control of Discrete-Time Systems with State-Control Constraints and General Cost Functions, PhD Dissertation, University of Michigan, Ann Arbor, Michigan, 1986.
Knudsen, J. K. H.,Time-Optimal Computer Control of a Pilot Plant Evaporator, Proceedings of the 6th IFAC World Congress, Part 2, pp. 4531–4536, 1975.
DeVlieger, J. H., Verbruggen, H. B., andBruijn, P. M.,A Time-Optimal Control Algorithm for Digital Computer Control, Automatica, Vol. 18, pp. 239–244, 1982.
Gutman, P. O.,On-Line Use of a Linear Programming Controller, IFAC Software for Computer Control, Madrid, Spain, pp. 313–318, 1982.
Willems, J. L.,Stability Theory of Dynamical Systems, Thomas Nelson and Sons, London, England, 1970.
Kalman, R. E., andBertram, J. E.,Control System Analysis and Design via the Second Method of Lyapunov, II: Discrete-Time Systems, Transactions of the ASME, Journal of Basic Engineering, Vol. 82, pp. 394–400, 1960.
Keerthi, S. S., andGilbert, E. G.,An Existence Theorem for Discrete-Time Infinite-Horizon Optimal Control Problems, IEEE Transactions on Automatic Control, Vol. AC-30, pp. 907–909, 1985.
Keerthi, S. S., andGilbert, E. G.,Optimal Infinite-Horizon Control and the Stabilization of Discrete-Time Systems: State-Control Constraints and Nonquadratic Cost Functions, IEEE Transactions on Automatic Control, Vol. AC-31, pp. 264–266, 1986.
Hwang, W. G., andSchmitendorf, W. E.,Controllability Results for Systems with a Nonconvex Target, IEEE Transactions on Automatic Control, Vol. AC-29, pp. 794–802, 1984.
Barrodale, I., andRoberts, F. D. K.,Solution of the Constrained l 1 Linear Approximation Problem, ACM Transactions on Mathematical Software, Vol. 6, pp. 231–235, 1980.
Lawson, C. L., andHanson, R. J.,Solving Least Squares Problems. Prentice-Hall, Englewood Cliffs, New Jersey, 1974.
Gutman, P. O., andHagander, P.,A New Design of Constrained Controllers for Linear Systems, IEEE Transactions on Automatic Control, Vol. AC-30, pp. 22–33, 1985.
Author information
Authors and Affiliations
Additional information
Communicated by J. L. Speyer
Rights and permissions
About this article
Cite this article
Keerthi, S.S., Gilbert, E.G. Optimal infinite-horizon feedback laws for a general class of constrained discrete-time systems: Stability and moving-horizon approximations. J Optim Theory Appl 57, 265–293 (1988). https://doi.org/10.1007/BF00938540
Issue Date:
DOI: https://doi.org/10.1007/BF00938540