Doctoral Dissertations


Qiming Zhao


"Traditionally, optimal control of dynamical systems with known system dynamics is obtained in a backward-in-time and offline manner either by using Riccati or Hamilton-Jacobi-Bellman (HJB) equation. In contrast, in this dissertation, finite-horizon optimal regulation has been investigated for both linear and nonlinear systems in a forward-in-time manner when system dynamics are uncertain. Value and policy iterations are not used while the value function (or Q-function for linear systems) and control input are updated once a sampling interval consistent with standard adaptive control. First, the optimal adaptive control of linear discrete-time systems with unknown system dynamics is presented in Paper I by using Q-learning and Bellman equation while satisfying the terminal constraint. A novel update law that uses history information of the cost to go is derived. Paper II considers the design of the linear quadratic regulator in the presence of state and input quantization. Quantization errors are eliminated via a dynamic quantizer design and the parameter update law is redesigned from Paper I. Furthermore, an optimal adaptive state feedback controller is developed in Paper III for the general nonlinear discrete-time systems in affine form without the knowledge of system dynamics. In Paper IV, a NN-based observer is proposed to reconstruct the state vector and identify the dynamics so that the control scheme from Paper III is extended to output feedback. Finally, the optimal regulation of quantized nonlinear systems with input constraint is considered in Paper V by introducing a non-quadratic cost functional. Closed-loop stability is demonstrated for all the controller designs developed in this dissertation by using Lyapunov analysis while all the proposed schemes function in an online and forward-in-time manner so that they are practically viable"--Abstract, page iv.


Sarangapani, Jagannathan, 1965-

Committee Member(s)

Acar, Levent
Zawodniok, Maciej Jan, 1975-
Landers, Robert G.
Chellappan, Sriram


Electrical and Computer Engineering

Degree Name

Ph. D. in Electrical Engineering


National Science Foundation (U.S.)
Missouri University of Science and Technology. Intelligent System Center


Missouri University of Science and Technology

Publication Date

Fall 2013

Journal article titles appearing in thesis/dissertation

  • Finite-horizon optimal adaptive control of uncertain linear discrete-time systems
  • Finite-horizon adaptive optimal control of uncertain quantized linear discrete-time system
  • Neural network-based finite-horizon optimal control of uncertain affine nonlinear discrete-time systems
  • Fixed final-time near optimal regulation of nonlinear discrete-time sysems in affine form using output feedback
  • Finite-horizon near optimal control of quantized nonlinear discrete-time systems with input constraint using neural networks


xiii, 220 pages

Note about bibliography

Includes bibliographical references.


© 2013 Qiming Zhao, All rights reserved.

Document Type

Dissertation - Open Access

File Type




Subject Headings

Robust control -- Mathematical models
Dynamic programming
Control theory
Linear systems
Nonlinear systems

Thesis Number

T 10430

Electronic OCLC #