Inverse optimal control for discrete-time nonlinear systems via passivation

This paper presents an inverse optimal control approach for stabilization and trajectory tracking of discrete‐time nonlinear systems, avoiding to solve the associated Hamilton–Jacobi–Bellman equation, and minimizing a meaningful cost functional. The proposed controller is based on a discrete‐time control Lyapunov function and passivity theory; its applicability is illustrated via simulations for an unstable nonlinear system and a planar robot.