The objective of the constrained gain problem is to find optimal gains that satisfy given constraints and minimize a quadratic cost functional of the states. The conditions for optimality are obtained by using the calculus of variations. It is shown that the optimal gains yield a stable closed-loop system and locally minimize the cost functional. An algorithm for the iterative solution of optimal gains is presented and the theory is applied to two aircraft control problems where a comparison is made between present results and those of linear optimal control.
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Sabi J. Asseo (1971) studied this question.
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