Optimal Control of Nonlinear Singular Systems Based on Fully Actuated System Theory

In this paper, we extend the results on optimal control of normal nonlinear system to singular nonlinear system based on fully actuated system (FAS) theory. Two explicit necessary and sufficient conditions for regularity of system matrix pencil are given. Admissibility of closed-loop singular systems with optimal performance is guaranteed by justifying controllablity. The effectiveness of the obtained results is illustrated by a numerical example.