Discrete-time inverse optimal control for block control form nonlinear systems

This paper presents an inverse optimal control approach for trajectory tracking of block control form discrete-time nonlinear systems, avoiding the need to solve the associated Hamilton-Jacobi-Bellman (HJB) equation, and minimizing a meaningful cost function. The stabilizing inverse optimal controller is based on a discrete-time control Lyapunov function. Simulation results illustrate the applicability of the proposed control scheme by trajectory tracking of an unstable system with the block controllable form.