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Optimal codesign of controller and linear plants with input saturation: The sensitivity Lyapunov approach
Author(s) -
Moradi M.,
Naraghi M.,
Kamali Eigoli A.
Publication year - 2017
Publication title -
optimal control applications and methods
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.458
H-Index - 44
eISSN - 1099-1514
pISSN - 0143-2087
DOI - 10.1002/oca.2369
Subject(s) - control theory (sociology) , sensitivity (control systems) , lyapunov function , controller (irrigation) , optimal control , saturation (graph theory) , mathematics , mathematical optimization , computer science , nonlinear system , control (management) , engineering , physics , agronomy , quantum mechanics , electronic engineering , artificial intelligence , combinatorics , biology
Summary Integrating the plant and controller designs reduces the unnecessary interactions, which increases the overall control cost. This is the main concern of the plant‐controller codesign (PCCD) theory that is extensively covered in the literature for linear plants. However, in the presence of input saturation, linear methods are not valid anymore. Indeed, for attaining the optimal controller with input saturation, the Hamilton‐Jacobi‐Bellman equation should be satisfied. In this paper, an iterative technique is proposed for solving the linear PCCD problem with input saturation. In order to achieve the optimal design, the plant is updated using the necessary condition for optimality expressed by sensitivity equations appended to the Hamilton‐Jacobi‐Bellman equation. Results indicate that the PCCD improves the control effort and reduces the overall performance index significantly.