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Optimal Control

The document compares conventional control and optimal control, highlighting that conventional control focuses on system stability using feedback loops, while optimal control seeks to minimize a performance index through mathematical optimization. It discusses the advantages and disadvantages of both approaches, with optimal control providing superior performance in specific scenarios but requiring precise models and being computationally intensive. The Riccati equation is emphasized as a key tool in optimal control, particularly for Linear Quadratic Regulator problems, aiding in the design of stabilizing control laws and optimal feedback gains.

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3 views29 pages

Optimal Control

The document compares conventional control and optimal control, highlighting that conventional control focuses on system stability using feedback loops, while optimal control seeks to minimize a performance index through mathematical optimization. It discusses the advantages and disadvantages of both approaches, with optimal control providing superior performance in specific scenarios but requiring precise models and being computationally intensive. The Riccati equation is emphasized as a key tool in optimal control, particularly for Linear Quadratic Regulator problems, aiding in the design of stabilizing control laws and optimal feedback gains.

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anuragk0520
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OPTIMAL CONTROL

• Conventional control aims to stabilize a system and achieve desired


behavior, while optimal control seeks to find the best possible control
strategy to minimize a specific performance index.
• Conventional control often relies on feedback loops and trial-and-
error design approaches, whereas optimal control uses mathematical
optimization techniques to find the most efficient control inputs.
CONVENTIONAL CONTROL

Objective:
Achieve desired system behavior and stability, typically using feedback loops to correct for
disturbances.
Approach:
Trial-and-error tuning of controller parameters, often using techniques like PID control.
Advantages:
Robustness, relatively simple to implement, and good performance in many practical
scenarios.
Disadvantages:
May not be optimal for complex systems or when maximizing a specific performance
criterion is crucial.
Examples:
PID controllers, classical control theory.
OPTIMAL CONTROL

Objective:
Find the control inputs that minimize a specific performance index (cost function) while satisfying system
constraints.
Approach:
Mathematical optimization techniques to determine the optimal control trajectory.
Advantages:
Can achieve superior performance compared to conventional control in specific scenarios, especially
when minimizing cost or maximizing a particular metric is important.
Disadvantages:
Requires a precise mathematical model of the system, can be computationally intensive, and may not be
as robust to changes in system dynamics as conventional control.
Examples:
Linear Quadratic Regulator (LQR), Linear Quadratic Gaussian (LQG).
OPTIMAL CONTROL

• An optimal control system : A system whose design optimizes the


value of a function chosen as the performance index.
• Performance Index: In designing an optimal control system or optimal
regulator system, it needs to find a rule for determining the present
control decision subject to the certain constraints so as to minimize
some measure the deviation from ideal behavior
• That measure is provided by the given performance index, which is a
function whose value is considered as an indication of how well the
actual performance of the system matches the desired performance.
• In most cases, the behaviour of a system is optimized by choosing the
control vector in such a way that the performance index is minimized
or maximized
OPTIMAL CONTROL
OPTIMAL CONTROL
OPTIMAL CONTROL – PERFORMANCE INDEX
OPTIMAL CONTROL – PERFORMANCE INDEX
QUADRATIC OPTIMAL CONTROL
STATE REGULATOR PROBLEM
STATE REGULATOR PROBLEM
STATE REGULATOR PROBLEM
OPTIMAL DIGITAL CONTROL SYSTEM
OPTIMAL DIGITAL CONTROL SYSTEM
OPTIMAL DIGITAL CONTROL SYSTEM – RICCATI EQUATION

• The purpose of the Riccati equation is to design stabilizing control laws in optimal
control problems, particularly in Linear Quadratic (LQ) problems.

• It helps determine the optimal control strategies and feedback gains needed to
improve system performance and stability.

• The Riccati equation also plays a key role in problems involving nonlinear wave
propagation, fluid dynamics, and quantum mechanics, as well as in areas like
financial mathematics and economics.
OPTIMAL DIGITAL CONTROL SYSTEM – RICCATI EQUATION

Linear Quadratic Regulator (LQR) problem:

The Riccati equation is fundamental to solving LQR problems, which aim to minimize
a quadratic cost function while controlling a linear system.

Optimal control strategies:

Solving the Riccati equation helps find the optimal feedback gains, which are used in
the control law to manipulate the system's inputs to achieve desired performance.

System stability:

The solutions to the Riccati equation, particularly the stabilizing solutions, are crucial
for designing stable closed-loop control systems.
STEADY STATE QUADRATIC OPTIMAL CONTROL
STEADY STATE QUADRATIC OPTIMAL CONTROL
STEADY STATE QUADRATIC OPTIMAL CONTROL
STEADY STATE QUADRATIC OPTIMAL CONTROL
QUADRATIC OPTIMAL CONTROL OF A SERVO SYSTEM
• The Considered servo system is the inverted pendulum and the free body diagram
of the system is shown in the following figure .
QUADRATIC OPTIMAL CONTROL OF A SERVO SYSTEM

• It is assumed that the rod of the pendulum is mass-less and the hinge to which the
pendulum is fixed is frictionless
• The mass (m) of the pendulum is concentrated at the center of gravity(g) of the
pendulum which is located at pendulum ball’s center
• The mass of the cart is represented as M
• The control force u(t) acts along the x direction of the cart
• The rod’s length is represented as l
• The angle by which the pendulum is tilted represented as θ
QUADRATIC OPTIMAL CONTROL OF A SERVO SYSTEM
QUADRATIC OPTIMAL CONTROL OF A SERVO SYSTEM
QUADRATIC OPTIMAL CONTROL OF A SERVO SYSTEM
QUADRATIC OPTIMAL CONTROL OF A SERVO SYSTEM
QUADRATIC OPTIMAL CONTROL OF A SERVO SYSTEM
QUADRATIC OPTIMAL CONTROL OF A SERVO SYSTEM
QUADRATIC OPTIMAL CONTROL OF A SERVO SYSTEM

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