Invariants in Optimal Control: An Exact Solution of the Optimal Stabilization Problem

The stabilizing optimal feedback is a function onthe separatrix of stable points of the associated Hamiltoniansystem. Three geometric objects - the symplectic form, Hamiltonianvector field, and Lyapunov function, generating the separatrix - are %intrinsic to the optimal control system. They areinvariantly attached to the optimal control system under canonicaltransformations of the phase space. The separatrix equations can be writtenin terms of these invariants through invariant operations.There is a computable representative of the equivalence class,containing the original system. It is its linear approximation system at the stable point.