A Case Study of Feedback Controller and Estimator Designs for Nonlinear Systems via the State-dependent Riccati Equation Technique

This paper presents a case study of the design procedure of state-feedback controllers and estimators for nonlinear systems using the state-dependent Riccati equation (SDRE) method. The stability and the optimal property of the controller designed by using the SDRE control laws are discussed. Difficulty and limitation of using this kind of controller are mentioned. Approaches for calculating matrix-valued function in the design procedure of this kind of controller are introduced. In addition, application of state-dependent Riccati equation to design of nonlinear estimator that ensures the local convergence of the state estimation error is investigated. Eventually, explanation and some examples of feedback controller and estimator design basing on SDRE method are given