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Baldi, S. (author), Valmorbida, Giorgio (author), Papachristodoulou, Antonis (author), Kosmatopoulos, Elias B. (author)This work proposes an online policy iteration procedure for the synthesis of sub-optimal control laws for uncertain Linear Time Invariant (LTI) Asymptotically Null-Controllable with Bounded Inputs (ANCBI) systems. The proposed policy iteration method relies on: a policy evaluation step with a piecewise quadratic Lyapunov function in both the...conference paper 2016