Abstract
We present a design methodology for the synthesis of a dynamic controller which minimizes an arbitrary performance index for a non-linear discrete-time system. We assume that only the output of the dynamical system is available for feedback. Consequently, the system input-output relation needs to be represented as a higher-order non-linear difference equation. We show how the optimal control of a higher-order system can be transformed into that of the conventional first-order system and propose a method for constructing the optimal output feedback dynamic controller using modern function approximation techniques. Illustrative examples are presented to demonstrate the effectiveness of the method.
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