An OCO-plus-reference-governor framework gives constrained nonlinear control systems a dynamic regret bound linear in the optimizer's regret and path length, and linear only in cost variation when the optimizer converges Q-linearly.
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Online convex optimization for constrained control of nonlinear systems
An OCO-plus-reference-governor framework gives constrained nonlinear control systems a dynamic regret bound linear in the optimizer's regret and path length, and linear only in cost variation when the optimizer converges Q-linearly.