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math.OC2022★ 2 cited
On the exactness of a stability test for Lur'e systems with slope-restricted nonlinearities
Andrey Kharitenko, Carsten W. Scherer
In this note it is shown that the famous multiplier absolute stability test of R. O'Shea, G. Zames and P. Falb is necessary and sufficient if the set of Lur'e interconnections is l…
math.OC2022
Robust Differential Dynamic Programming
Dennis Gramlich, Carsten W. Scherer, Christian Ebenbauer
Differential Dynamic Programming is an optimal control technique often used for trajectory generation. Many variations of this algorithm have been developed in the literature, incl…