The effects of redundant control inputs in optimal control |
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| Authors: | ZhiSheng Duan Lin Huang Ying Yang |
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| Affiliation: | State Key Lab for Turbulence and Complex Systems and Department of Mechanics and Aerospace Engineering, College of Engineering, Peking University, Beijing 100871, China |
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| Abstract: | For a stabilizable system, the extension of the control inputs has no use for stabilizability, but it is important for optimal
control. In this paper, a necessary and sufficient condition is presented to strictly decrease the quadratic optimal performance
index after control input extensions. A similar result is also provided for H
2 optimal control problem. These results show an essential difference between single-input and multi-input control systems.
Several examples are taken to illustrate related problems. |
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| Keywords: | redundant control optimal control Riccati equation Hamilton matrix |
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