Derives closed-form costate and explicit feedback for optimal tracking in driftless x-flat systems under quadratic Bolza cost.
Liberzon,Calculus of Variations and Optimal Control Theory: A Concise Introduction
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Analytic Optimal Control for a Class of Driftless x-Flat Systems
Derives closed-form costate and explicit feedback for optimal tracking in driftless x-flat systems under quadratic Bolza cost.