This book provides a comprehensive treatment of the principles
underlying optimal constrained control and estimation. The contents
progress from optimisation theory, fixed-horizon discrete optimal
control, receding-horizon implementations and stability conditions
to explicit solutions and numerical algorithms, moving horizon
estimation, and connections between constrained estimation and
control. Several case studies and further developments illustrate
and expand the core principles.
Specific topics covered include:
a [ An overview of optimisation theory.
a [ Links to optimal control theory, including the
discrete-minimum principle.
a [ Linear and nonlinear receding-horizon constrained control
including stability.
a [ Constrained control solutions having a finite
parameterisation for specific classes of problems.
a [ Numerical procedures for solving constrained optimisation
problems.
a [ Output feedback optimal constrained control.
a [ Constrained state estimation.
a [ Duality between constrained estimation and control.
a [ Applications to finite alphabet control and estimation
problems, cross-directional control, rudder-roll stabilisation of
ships, and control over communication networks.
Constrained Control and Estimation is a self-contained treatment
assuming that the reader has a basic background in systems theory,
including linear control, stability and state-space methods. It is
suitable for use in senior-level courses and as material for
reference and self-study. A companion website is continually
updated by the authors.
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