Optimal codesign of controller and linear plants with input saturation: The sensitivity Lyapunov approach. (3rd October 2017)

• Record Type: Journal Article
• Authors: Moradi, M.; Naraghi, M.; Kamali Eigoli, A.
• Other Names: Chachuat Benoît guestEditor.; Sager Sebastian guestEditor.
• Is Part Of: Optimal control applications and methods. Volume 39:Number 2(2018)
• Page Start: 622
• Page End: 637
• Publication Date: 2017-10-03
• Subjects: codesign of plant and controller -- feedback optimal control -- Hamilton‐Jacobi‐Bellman equation -- input saturation -- penalty function method; Control theory -- Periodicals; Mathematical optimization -- Periodicals; 629.8312
• DOI: 10.1002/oca.2369
• Languages: English
• ISSNs: 0143-2087

Abstract

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.