Nonlinearity quantification for the optimal state feedback controller

T. Schweickhardt, F. Allgower, F. J. Doyle
2003 2003 European Control Conference (ECC)   unpublished
It is an important question whether nonlinear controller design is needed for a particular application or whether linear controllers are sufficient to achieve the desired control goals. The present paper introduces the closed-loop optimal control law (OCL) nonlinearity measure, a new tool that provides a scheme to quantify the degree of nonlinearity of an optimal state feedback controller for a given control problem. The method builds upon the Optimal Control Structure (OCS) method introduced
more » ... method introduced by Stack and Doyle III [9] . The new closed-loop OCL method is compared to the OCS approach and numerical examples illustrate the theoretical results.
doi:10.23919/ecc.2003.7084976 fatcat:pmtmbsx4lzfklnwkvvly7wu3ky