PREFACE xi 1 STATIC OPTIMIZATION 1
1.1 Optimization without Constraints / 1
1.2 Optimization with Equality Constraints / 4
1.3 Numerical Solution Methods / 15
Problems / 15
2 OPTIMAL CONTROL OF DISCRETE-TIME SYSTEMS 19
2.1 Solution of the General Discrete-Time Optimization Problem / 19
2.2 Discrete-Time Linear Quadratic Regulator / 32
2.3 Digital Control of Continuous-Time Systems / 53
2.4 Steady-State Closed-Loop Control and Suboptimal Feedback / 65
2.5 Frequency-Domain Results / 96
Problems / 102
3 OPTIMAL CONTROL OF CONTINUOUS-TIME SYSTEMS 110
3.1 The Calculus of Variations / 110
3.2 Solution of the General Continuous-Time Optimization Problem / 112
3.3 Continuous-Time Linear Quadratic Regulator / 135
3.4 Steady-State Closed-Loop Control and Suboptimal Feedback / 154
3.5 Frequency-Domain Results / 164
Problems / 167
4 THE TRACKING PROBLEM AND OTHER LQR EXTENSIONS 177
4.1 The Tracking Problem / 177
4.2 Regulator with Function of Final State Fixed / 183
4.3 Second-Order Variations in the Performance Index / 185
4.4 The Discrete-Time Tracking Problem / 190
4.5 Discrete Regulator with Function of Final State Fixed / 199
4.6 Discrete Second-Order Variations in the Performance Index / 206
Problems / 211
5 FINAL-TIME-FREE AND CONSTRAINED INPUT CONTROL 213
5.1 Final-Time-Free Problems / 213
5.2 Constrained Input Problems / 232
Problems / 257
6 DYNAMIC PROGRAMMING 260
6.1 Bellman's Principle of Optimality / 260
6.2 Discrete-Time Systems / 263
6.3 Continuous-Time Systems / 271
Problems / 283
7 OPTIMAL CONTROL FOR POLYNOMIAL SYSTEMS 287
7.1 Discrete Linear Quadratic Regulator / 287
7.2 Digital Control of Continuous-Time Systems / 292
Problems / 295
8 OUTPUT FEEDBACK AND STRUCTURED CONTROL 297
8.1 Linear Quadratic Regulator with Output Feedback / 297
8.2 Tracking a Reference Input / 313
8.3 Tracking by Regulator Redesign / 327
8.4 Command-Generator Tracker / 331
8.5 Explicit Model-Following Design / 338
8.6 Output Feedback in Game Theory and Decentralized Control / 343
Problems / 351
9 ROBUSTNESS AND MULTIVARIABLE FREQUENCY-DOMAIN TECHNIQUES 355
9.1 Introduction / 355
9.2 Multivariable Frequency-Domain Analysis / 357
9.3 Robust Output-Feedback Design / 380
9.4 Observers and the Kalman Filter / 383
9.5 LQG/Loop-Transfer Recovery / 408
9.6 H? DESIGN / 430
Problems / 435
10 DIFFERENTIAL GAMES 438
10.1 Optimal Control Derived Using Pontryagin's Minimum Principle and the Bellman Equation / 439
10.2 Two-player Zero-sum Games / 444
10.3 Application of Zero-sum Games to H? Control / 450
10.4 Multiplayer Non-zero-sum Games / 453
11 REINFORCEMENT LEARNING AND OPTIMAL ADAPTIVE CONTROL 461
11.1 Reinforcement Learning / 462
11.2 Markov Decision Processes / 464
11.3 Policy Evaluation and Policy Improvement / 474
11.4 Temporal Difference Learning and Optimal Adaptive Control / 489
11.5 Optimal Adaptive Control for Discrete-time Systems / 490
11.6 Integral Reinforcement Learning for Optimal Adaptive Control of Continuous-time Systems / 503
11.7 Synchronous Optimal Adaptive Control for Continuous-time Systems / 513
APPENDIX A REVIEW OF MATRIX ALGEBRA 518
A.1 Basic Definitions and Facts / 518
A.2 Partitioned Matrices / 519
A.3 Quadratic Forms and Definiteness / 521
A.4 Matrix Calculus / 523
A.5 The Generalized Eigenvalue Problem / 525
REFERENCES 527
INDEX 535
