Approximate optimal PD dynamic compensation control for nonlinear systems
非线性系统近似最优PD动态补偿控制

We consider the approximate optimal PD control for nonlinear systems based on the dynamic compensation. By using the successive approximation theory of differential equations, the original optimal control problem of nonlinear systems is transformed into a sequence of non-homogeneous linear two-point-boundary-value(TPBV) problems, which converts the optimization of the state variables feedback in the time domain into the optimization of PD controller parameters in the frequency domain. According to this method, the system optimal dynamic compensation network is obtained; the optimally tuned parameters of PD controller are designed and the realization algorithm is developed. Simulations show that the result is more robust and with better dynamic performance than that obtained by successively approximating the traditional linear quadratic regulator(LQR).