An algorithm for constructing regulators for nonlinear systems with the formal small parameter

In this paper the problem of designing a stabilizing nonlinear controller for discrete and continuous time nonlinear control systems is considered. The method based on the formal Riccati equation with state-dependent coefficients (SDRE) is used for the construction of a nonlinear stabilizing regulator. Several numerical experiments were carried out to demonstrate the effectiveness of the proposed nonlinear regulator in comparison with the corresponding linear regulator.