A construction method of optimal control input sequence based on input–output – convex programming approach

This paper proposes a new model-free control input design method for systems with input saturation by using a convex programming technique. This method yields the optimal control input sequence, which achieves approximate trajectory tracking subject to input saturation, from input–output data without using any plant model. Furthermore, we extend the method to the two-degree-of-freedom control case in order to enjoy the merits of feedback control. The effectiveness of the proposed method is demonstrated by numerical examples.