@incollection{eprints1340,
       booktitle = {20th Mediterranean Conference on Control \& Automation (MED), 2012},
            note = {20th Mediterranean Conference on Control \& Automation (MED)
Barcelona, Spain, July 3-6, 2012},
           title = {Numerical algorithm for nonlinear state feedback ?? optimal control problem},
          author = {Vladimir Milic and Alberto Bemporad and Josip Kasac and Zeljko Situm},
            year = {2012},
           pages = {1253 --1258},
       publisher = {IEEE},
           month = {July},
        abstract = {In this paper, the numerical algorithm based on conjugate gradient method to solve a finite-horizon min-max optimization problem arising in the ??; control of nonlinear systems is presented. The feedback control and disturbance variables are formulated as a linear combination of basis functions. The proposed algorithm, which has a backward-intime structure, directly finds very accurate approximations of these feedbacks. Benchmark examples with analytic solutions are provided to demonstrate the effectiveness of the proposed algorithm.},
             url = {http://eprints.imtlucca.it/1340/}
}