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Preface | p. xi |
Static Optimization | p. 1 |
Optimization without Constraints | p. 1 |
Optimization with Equality Constraints | p. 4 |
Numerical Solution Methods | p. 15 |
Problems | p. 15 |
Optimal Control of Discrete-Time Systems | p. 19 |
Solution of the General Discrete-Time Optimization Problem | p. 19 |
Discrete-Time Linear Quadratic Regulator | p. 32 |
Digital Control of Continuous-Time Systems | p. 53 |
Steady-State Closed-Loop Control and Suboptimal Feedback | p. 65 |
Frequency-Domain Results | p. 96 |
Problems | p. 102 |
Optimal Control of Continuous-Time Systems | p. 110 |
The Calculus of Variations | p. 110 |
Solution of the General Continuous-Time Optimization Problem | p. 112 |
Continuous-Time Linear Quadratic Regulator | p. 135 |
Steady-State Closed-Loop Control and Suboptimal Feedback | p. 154 |
Frequency-Domain Results | p. 164 |
Problems | p. 167 |
The Tracking Problem and Other LQR Extensions | p. 177 |
The Tracking Problem | p. 177 |
Regulator with Function of Final State Fixed | p. 183 |
Second-Order Variations in the Performance Index | p. 185 |
The Discrete-Time Tracking Problem | p. 190 |
Discrete Regulator with Function of Final State Fixed | p. 199 |
Discrete Second-Order Variations in the Performance Index | p. 206 |
Problems | p. 211 |
Final-Time-Free and Constrained Input Control | p. 213 |
Final-Time-Free Problems | p. 213 |
Constrained Input Problems | p. 232 |
Problems | p. 257 |
Dynamic Programming | p. 260 |
Bellman's Principle of Optimality | p. 260 |
Discrete-Time Systems | p. 263 |
Continuous-Time Systems | p. 271 |
Problems | p. 283 |
Optimal Control for Polynomial Systems | p. 287 |
Discrete Linear Quadratic Regulator | p. 287 |
Digital Control of Continuous-Time Systems | p. 292 |
Problems | p. 295 |
Output Feedback and Structured Control | p. 297 |
Linear Quadratic Regulator with Output Feedback | p. 297 |
Tracking a Reference Input | p. 313 |
Tracking by Regulator Redesign | p. 327 |
Command-Generator Tracker | p. 331 |
Explicit Model-Following Design | p. 338 |
Output Feedback in Game Theory and Decentralized Control | p. 343 |
Problems | p. 351 |
Robustness and Multivariable Frequency-Domain Techniques | p. 355 |
Introduction | p. 355 |
Multivariable Frequency-Domain Analysis | p. 357 |
Robust Output-Feedback Design | p. 380 |
Observers and the Kalman Filter | p. 383 |
LQG/Loop-Transfer Recovery | p. 408 |
H∞ DESIGN | p. 430 |
Problems | p. 435 |
Differential Games | p. 438 |
Optimal Control Derived Using Pontryagin's Minimum Principle and the Bellman Equation | p. 439 |
Two-player Zero-sum Games | p. 444 |
Application of Zero-sum Games to H∞ Control | p. 450 |
Multiplayer Non-zero-sum Games | p. 453 |
Reinforcement Learning and Optimal Adaptive Control | p. 461 |
Reinforcement Learning | p. 462 |
Markov Decision Processes | p. 464 |
Policy Evaluation and Policy Improvement | p. 474 |
Temporal Difference Learning and Optimal Adaptive Control | p. 489 |
Optimal Adaptive Control for Discrete-time Systems | p. 490 |
Integral Reinforcement Learning for Optimal Adaptive Control of Continuous-time Systems | p. 503 |
Synchronous Optimal Adaptive Control for Continuous-time Systems | p. 513 |
Review of Matrix Algebra | p. 518 |
Basic Definitions and Facts | p. 518 |
Partitioned Matrices | p. 519 |
Quadratic Forms and Definiteness | p. 521 |
Matrix Calculus | p. 523 |
The Generalized Eigenvalue Problem | p. 525 |
References | p. 527 |
Index | p. 535 |
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