Abstract
The design algorithms are presented for constructing effective and practical control laws for linear discrete systems subject to state and input constraints. The following problems are formulated and solved on the assumption that the set of initial states is given by a convex polyhedron: (1) find the optimal admissible linear control law minimizing a given performance index("an admissible law" means a control law satisfying all the constraints), (2) find a nonlinear admissible control law achieving a better quadratic performance index than a linear admissible control law
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