A CANONICAL STRUCTURE FOR CONSTRAINED OPTIMAL-CONTROL PROBLEMS

We consider a general class of optimal control problems with regional pole and controller structure constraints. Our goal is to show that fo r a fairly general class of regional pole and controller structure con straints, such constrained optimal control problems can be transformed to a new one with a canonical structure. A three-step transformation procedure is used to achieve our goal, which essentially amounts to re peated augmentations of plant dynamics and repeated reductions of the controller. The transformed problem is one of the standard optimal sta tic output feedback with a decentralized and repeated structure.