MATLAB implementation of an optimal tracking control of unknown or varying discrete-time dynamical systems using RL with an augmented integral formulation

Sample RL code using a proposed system augmentation with integral control for tracking applications. The proposed framework converges to optimal tracking parameters without knowledge of the system dynamics, and in contrast to existing RL tracking formulations, does not impose restrictive assumptions like use of pre-determined feedforward input or assumptions on reference model dynamics and use of discounted tracking costs.