Abstract
This paper considers the optimal output tracking control problem for nonlinear systems affected by external disturbances based on stability degree constraint. The objective is to find an optimal output tracking controller, by which the cost function minimum and the state with the optimal having a higher mean-square convergence rate can be obtained. An optimal output tracking law is derived from a Riccati equation and Matrix equations. We give the existence and uniqueness conditions of the control law. Finally, a practical example is given to illustrate the effectiveness of the theory.
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