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OPEN LOOP HIERARCHICAL CONTROL
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algorithm approach assumed block diagonal boundary value problem calculated chapter closed loop control coefficient computational requirements consider constraints control law control trajectories cost function costate equation covariance covariance matrix decentralised defined delay described developed dimensional dual function duality dynamical systems error estimate example feedback control given by equation global Goal Coordination method gradient Hamiltonian hierarchical control i+l)th initial conditions initial guess input integration interaction iteration Kalman filter Lagrange Duality Lagrange multiplier Lagrangian large scale systems level algorithm linear linear-quadratic matrix maximise minimisation multiplications non-linear systems obtained off-line on-line open loop control optimal and suboptimal optimal control optimal solution optimisation problem optimum output thickness overall system performance point boundary value possible prediction principle quadratic reach reduction pattern Riccati equation roughing process second level serial systems singular solution slab solved strategy subproblems Tamura Theorem tion variables whilst zero