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Control co-design (CCD) explores physical and control design spacessimultaneously to optimize a system's performance. A commonly used CCDframework aims to achieve open-loop optimal control (OLOC) trajectory whileoptimizing the physical design variables subject to constraints on control anddesign parameters. In this study, in contrast with the conventional CCD methodsbased on OLOC schemes, we present a CCD formulation that explicitly considers afeedback controller. In the formulation, we consider two control laws based onproportional linear and quadratic state feedback, where the control gain isoptimized. The simulation results show that the OLOC trajectory could beapproximated by a feedback controller. While the total energy generated fromthe CCD with a feedback controller is slightly lower than that of the CCD withOLOC, it results in a much simpler control structure and more robustperformance in the presence of uncertainties and disturbances, making itsuitable for real-time control. The study in this paper investigates theperformance of optimal hydrokinetic turbine design with a feedback controllerin the presence of uncertainties and disturbances to demonstrate the benefitsand highlight challenges associated with incorporating the feedback controllerexplicitly in the CCD stage.

Control Co-design of a Hydrokinetic Turbine: A Comparative Study of Open-loop Optimal Control and Feedback Control