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References for chapter I
References for chapter 2
16 other sections not shown
approach assume block diagonal boundary conditions boundary value problem calculation chapter conditions for optimality control trajectories convergence convex coordination variables coordination vector cost function costate costate equations covariance matrix criterion decentralised control decomposition define differential equations dimensional discrete dynamical systems equality constraints estimate example feasible gain matrix Gaussian random Gaussian white noise given by equations global Goal Coordination method gradient method Hamiltonian hierarchical independent inequality constraints initial conditions initial guess integrate interaction interconnection iteration Kalman filter Lagrange multipliers Lagrangian linear programming minimum necessary conditions Newton's method non-linear obtain optimal control optimisation problem optimum order conditions outputs parameters point boundary value positive definite prediction quadratic quasilinearisation random variables Riccati equation satisfied second level servomechanism Singh structure subproblems subsystem theorem tion whilst white noise x(k+l zero mean Gaussian