  An optimized variant of the State Dependent Riccati Equations (SDREs)
approach for nonlinear optimal feedback stabilization is presented. The
proposed method is based on the construction of equivalent semilinear
representations associated to the dynamics and their affine combination. The
optimal combination is chosen to minimize the discrepancy between the SDRE
control and the optimal feedback law stemming from the solution of the
corresponding Hamilton Jacobi Bellman (HJB) equation. Numerical experiments
assess effectiveness of the method in terms of stability of the closed-loop
with near-to-optimal performance.
