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Unformatted text preview: optimal feedback gain at k = N − 1 (c) What is the steady state feedback gain for this discrete problem. Where is the closed-loop system pole when you use this steady state gain? Is it stable? Do these answers meet with your expectations given the result in part (a)? 3. Solve the following optimal control problem by dynamic programming on the indicated grid of values, and summarize the optimal control and state sequences. 2 min J = x 2 3 + [ | x k | + 2 u 2 k ] k =0 subject to x k +1 = x k + u k and x = 3 ±igure 1: If you use this grid as part of your answer, make sure you put your name on this sheet and hand it in....
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- Spring '08