The basic idea of inverse optimal control theory for nonlinear systems is to find a feedback control law based on a priori knowledge of a Control-Lyapunov function (CLF), that leads to Lyapunov stability of the system and minimizes a cost functional [1], [4]. The problem of inverse optimal control leads to the Hamilton-Jacobi-Bellman (HJB) equation...

By Nicolae Pop, Luige Vlădăreanu, Adrian I. Pop