Inverse optimal control for nonlinear systems with input constraints

In this paper, we propose a generalized inverse optimal controller for nonlinear systems with input constraints. We clarify that directional vectors of inverse optimal controllers determine the lower limits of sector margins. Under input constraints, sector margins and domains of attraction have trade-off relations. Therefore, domains in which inverse optimal controllers exist may be small, or inverse optimal controllers may not guarantee enough sector margins. Finally, we provide a robust controller for adjusting sector margins and domains of attraction.