Synthesis of Suboptimal H∞ Controllers over a Finite Horizon
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In this chapter a finite horizon H ∞ optimal control problem is posed and solved. A criterion which is useful for the evaluation of the infimal H ∞ norm in the finite horizon case is given. Also, a differential equation is derived for the measure of performance in terms of the final time. A general suboptimal control problem is then posed, and an expression for a suboptimal controller is derived solving the saddle point conditions. An expression for a feedback controller can be derived by solving a dynamic Riccati equation. Also, a criterion that yields the actual performance of the suboptimal controller is given. In the time-invariant case, the finite horizon controller converges to a static controller as the final time becomes large. Examples are given to illustrate the usefulness of the theory.
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