On Proportional Plus Proportional-Integral Suboptimal Control

Two suboptimal control policies employing integral state feedback suitable for nonlinear systems and nonquadratic performance functionals have been proposed. Necessary conditions are obtained using the variational approach to select optimally the time-invariant parameters for a general control structure of which the two suboptimal policies proposed are particular cases. A numerical example is worked out and the results compared and discussed. Copyright © 1975 by The Institute of Electrical and Electronics Engineers, Inc.