%0 Book Section
%A Milic, Vladimir
%A Bemporad, Alberto
%A Kasac, Josip
%A Situm, Zeljko
%B 20th Mediterranean Conference on Control & Automation (MED), 2012
%D 2012
%F eprints:1340
%I IEEE
%P 1253 -1258
%T Numerical algorithm for nonlinear state feedback ℌ∞ optimal control problem
%U http://eprints.imtlucca.it/1340/
%X In this paper, the numerical algorithm based on conjugate gradient method to solve a finite-horizon min-max optimization problem arising in the ℌ∞; 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.
%Z 20th Mediterranean Conference on Control & Automation (MED)  Barcelona, Spain, July 3-6, 2012