ABSTRACT
This chapter deals with inverse optimal control via passivity for both stabilization and trajectory tracking. In Section 3.1, a stabilizing inverse optimal control is synthesized. In Section 3.2, trajectory tracking is presented by modifying the proposed CLF such that it has a global minimum along the desired trajectory. Examples illustrate the proposed control scheme applicability. Finally, Section 3.3 presents an inverse optimal control scheme for nonlinear positive systems.
