Sanchez E.N., Ornelas-Tellez F. Discrete-Time Inverse Optimal Control for Nonlinear Systems

CRC Press, 2013. — 270 p.
The book presents two approaches for controller synthesis: the first based on passivity theory and the second on a control Lyapunov function (CLF). The synthesized discrete-time optimal controller can be directly implemented in real-time systems. The book also proposes the use of recurrent neural networks to model discrete-time nonlinear systems. Combined with the inverse optimal control approach, such models constitute a powerful tool to deal with uncertainties such as unmodeled dynamics and disturbances.