Linear quadratic regulator problem with positive controls

Authors:
  • WHW. P. M. H. Heemels
    W. P. M. H. Heemels
  • SES. J. L. Van Eijndhoven
    S. J. L. Van Eijndhoven
  • ASA. A. Stoorvogel
    A. A. Stoorvogel
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Abstract
In this paper, the Linear Quadratic Regulator Problem with a positivity constraint on the admissible control set is addressed. Necessary and sufficient conditions for optimality are presented in terms of inner products, projections on closed convex sets, Pontryagin's maximum principle and dynamic programming. The main results are concerned with smoothness of the optimal control and the value function. The maximum principle will be extended to the infinite horizon case. Based on these analytical methods, we propose a numerical algorithm for the computation of the optimal controls for the finite and infinite horizon problem. The numerical methods will be justified by convergence properties between the finite and infinite horizon case on one side and discretized optimal controls and the true optimal control on the other.