Kasac, Josip; Deur, Josko; Novakovic, Branko; Kolmanovsky, Ilya V.; Assadian, Francis
(Institute of Electrical and Electronics Engineers, 2010-11-01)
The paper presents a gradient-based algorithm for optimal control of nonlinear multivariable systems with control and state vectors constraints. The algorithm has a backward-in-time recurrent structure similar to the ...