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A Relaxed Projection Control in the Context of Inverse Optimal Control for Discrete Nonlinear Systems

We present a nonlinear discrete time feedback control design by searching over a family of controls and associated candidate quadratic control Lyapunov functions parameterized by the symmetric positive definite matrices using an ensemble Kalman search. Then we propose a novel relaxation of the control which can be used to tune for a particular implementation. We show that the proposed family of controls are globally exponentially stable for linear systems, and test the controls on both a linear and nonlinear example.